tf2::Transform Class Reference

The Transform class supports rigid transforms with only translation and rotation and no scaling/shear. It can be used in combination with Vector3, Quaternion and Matrix3x3 linear algebra classes. More...

#include <Transform.hpp>

Public Member Functions
	Transform ()
	No initialization constructor.
	Transform (const Quaternion &q, const Vector3 &c=Vector3(tf2Scalar(0), tf2Scalar(0), tf2Scalar(0)))
	Constructor from Quaternion (optional Vector3 )
	Transform (const Matrix3x3 &b, const Vector3 &c=Vector3(tf2Scalar(0), tf2Scalar(0), tf2Scalar(0)))
	Constructor from Matrix3x3 (optional Vector3)
	Transform (const Transform &other)
	Copy constructor.
Transform &	operator= (const Transform &other)
	Assignment Operator.
void	mult (const Transform &t1, const Transform &t2)
	Set the current transform as the value of the product of two transforms.
Vector3	operator() (const Vector3 &x) const
	Return the transform of the vector.
Vector3	operator* (const Vector3 &x) const
	Return the transform of the vector.
Quaternion	operator* (const Quaternion &q) const
	Return the transform of the Quaternion.
Matrix3x3 &	getBasis ()
	Return the basis matrix for the rotation.
const Matrix3x3 &	getBasis () const
	Return the basis matrix for the rotation.
Vector3 &	getOrigin ()
	Return the origin vector translation.
const Vector3 &	getOrigin () const
	Return the origin vector translation.
Quaternion	getRotation () const
	Return a quaternion representing the rotation.
void	setFromOpenGLMatrix (const tf2Scalar *m)
	Set from an array.
void	getOpenGLMatrix (tf2Scalar *m) const
	Fill an array representation.
void	setOrigin (const Vector3 &origin)
	Set the translational element.
Vector3	invXform (const Vector3 &inVec) const
void	setBasis (const Matrix3x3 &basis)
	Set the rotational element by Matrix3x3.
void	setRotation (const Quaternion &q)
	Set the rotational element by Quaternion.
void	setIdentity ()
	Set this transformation to the identity.
Transform &	operator*= (const Transform &t)
	Multiply this Transform by another(this = this * another)
Transform	inverse () const
	Return the inverse of this transform.
Transform	inverseTimes (const Transform &t) const
	Return the inverse of this transform times the other transform.
Transform	operator* (const Transform &t) const
	Return the product of this transform and the other.
void	serialize (struct TransformData &dataOut) const
void	serializeFloat (struct TransformFloatData &dataOut) const
void	deSerialize (const struct TransformData &dataIn)
void	deSerializeDouble (const struct TransformDoubleData &dataIn)
void	deSerializeFloat (const struct TransformFloatData &dataIn)

Static Public Member Functions
static const Transform &	getIdentity ()
	Return an identity transform.

Detailed Description

The Transform class supports rigid transforms with only translation and rotation and no scaling/shear. It can be used in combination with Vector3, Quaternion and Matrix3x3 linear algebra classes.

Constructor & Destructor Documentation

Transform() [1/4]

tf2::Transform::Transform ( )

inline

No initialization constructor.

Transform() [2/4]

tf2::Transform::Transform ( const Quaternion &  q, const Vector3 &  c = Vector3(tf2Scalar(0), tf2Scalar(0), tf2Scalar(0))  )

inlineexplicit

Constructor from Quaternion (optional Vector3 )

Parameters

q	Rotation from quaternion
c	Translation from Vector (default 0,0,0)

Transform() [3/4]

tf2::Transform::Transform ( const Matrix3x3 &  b, const Vector3 &  c = Vector3(tf2Scalar(0), tf2Scalar(0), tf2Scalar(0))  )

inlineexplicit

Constructor from Matrix3x3 (optional Vector3)

Parameters

b	Rotation from Matrix
c	Translation from Vector default (0,0,0)

Transform() [4/4]

tf2::Transform::Transform ( const Transform &  other )

inline

Copy constructor.

Member Function Documentation

operator=()

Transform & tf2::Transform::operator= ( const Transform &  other )

inline

Assignment Operator.

mult()

void tf2::Transform::mult ( const Transform &  t1, const Transform &  t2  )

inline

Set the current transform as the value of the product of two transforms.

Parameters

t1	Transform 1
t2	Transform 2 This = Transform1 * Transform2

operator()()

Vector3 tf2::Transform::operator() ( const Vector3 &  x ) const

inline

Return the transform of the vector.

operator*() [1/3]

Vector3 tf2::Transform::operator* ( const Vector3 &  x ) const

inline

Return the transform of the vector.

operator*() [2/3]

Quaternion tf2::Transform::operator* ( const Quaternion &  q ) const

inline

Return the transform of the Quaternion.

getBasis() [1/2]

Matrix3x3 & tf2::Transform::getBasis ( )

inline

Return the basis matrix for the rotation.

getBasis() [2/2]

const Matrix3x3 & tf2::Transform::getBasis ( ) const

inline

Return the basis matrix for the rotation.

getOrigin() [1/2]

Vector3 & tf2::Transform::getOrigin ( )

inline

Return the origin vector translation.

getOrigin() [2/2]

const Vector3 & tf2::Transform::getOrigin ( ) const

inline

Return the origin vector translation.

getRotation()

Quaternion tf2::Transform::getRotation ( ) const

inline

Return a quaternion representing the rotation.

setFromOpenGLMatrix()

void tf2::Transform::setFromOpenGLMatrix ( const tf2Scalar *  m )

inline

Set from an array.

Parameters

m	A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation

getOpenGLMatrix()

void tf2::Transform::getOpenGLMatrix ( tf2Scalar *  m ) const

inline

Fill an array representation.

Parameters

m	A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation

setOrigin()

void tf2::Transform::setOrigin ( const Vector3 &  origin )

inline

Set the translational element.

Parameters

origin

The vector to set the translation to

invXform()

Vector3 tf2::Transform::invXform

(

const Vector3 &

inVec

)

const

setBasis()

void tf2::Transform::setBasis ( const Matrix3x3 &  basis )

inline

Set the rotational element by Matrix3x3.

setRotation()

void tf2::Transform::setRotation ( const Quaternion &  q )

inline

Set the rotational element by Quaternion.

setIdentity()

void tf2::Transform::setIdentity ( )

inline

Set this transformation to the identity.

operator*=()

Transform & tf2::Transform::operator*= ( const Transform &  t )

inline

Multiply this Transform by another(this = this * another)

Parameters

t	The other transform

inverse()

Transform tf2::Transform::inverse ( ) const

inline

Return the inverse of this transform.

inverseTimes()

Transform tf2::Transform::inverseTimes

(

const Transform &

t

)

const

Return the inverse of this transform times the other transform.

Parameters

t	The other transform return this.inverse() * the other

operator*() [3/3]

Transform tf2::Transform::operator*

(

const Transform &

t

)

const

Return the product of this transform and the other.

getIdentity()

static const Transform & tf2::Transform::getIdentity ( )

inlinestatic

Return an identity transform.

serialize()

void tf2::Transform::serialize

(

struct TransformData &

dataOut

)

const

serializeFloat()

void tf2::Transform::serializeFloat

(

struct TransformFloatData &

dataOut

)

const

deSerialize()

void tf2::Transform::deSerialize

(

const struct TransformData &

dataIn

)

deSerializeDouble()

void tf2::Transform::deSerializeDouble

(

const struct TransformDoubleData &

dataIn

)

deSerializeFloat()

void tf2::Transform::deSerializeFloat

(

const struct TransformFloatData &

dataIn

)

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The documentation for this class was generated from the following file:

• include/tf2/LinearMath/Transform.hpp