opentl::math::Transform Class Reference

special class for a homogeneous transformation matrix More...

Inherits opentl::math::SquareMatrix.

List of all members.

Public Member Functions
virtual Transform	exponential (const int p=6)
	result = exp(this) Exponential mapping with Pade's scaling and squaring method
void	rotate (double x, double y, double z, double a, bool world=false)
void	rotateX (double angle, bool world=false)
void	rotateY (double angle, bool world=false)
void	rotateZ (double angle, bool world=false)
virtual void	rotationFromRodrigues (const Vector3 &rod)
void	scale (double x, double y, double z, bool world=false)
void	setTransform (const double values[4][4])
void	setTransform (const float values[4][4])
void	setTranslation (double x, double y, double z)
	Transform (double x, double y, double z, double alpha, double beta, double gamma)
	Transform (const Matrix &matrix)
	Transform (const Transform &matrix)
	Transform ()
void	translate (double x, double y, double z, bool world=false)
virtual	~Transform ()

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Detailed Description

special class for a homogeneous transformation matrix

Author:

Thomas Friedlhuber <friedlhu@in.tum.de>

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Constructor & Destructor Documentation

opentl::math::Transform::Transform

(

)

constructor

opentl::math::Transform::Transform

(

const Transform &

matrix

)

constructor based on content of an existing Transform matrix

Parameters:

matrix

existing matrix

opentl::math::Transform::Transform

(

const Matrix &

matrix

)

constructor based on content of an existing matrix (cols=rows=4)

Parameters:

matrix

existing matrix

opentl::math::Transform::Transform	(	double	x,
		double	y,
		double	z,
		double	alpha,
		double	beta,
		double	gamma
	)

constructor based on transformation data

Parameters:

	x,y,z	translation along x,y,z axis
	alpha,beta,gamma	rotation about x,y,z axis in rad

virtual opentl::math::Transform::~Transform

(

)

[virtual]

destructor

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Member Function Documentation

virtual Transform opentl::math::Transform::exponential

(

const int

p = 6

)

[virtual]

result = exp(this) Exponential mapping with Pade's scaling and squaring method

Returns:

matrix exponential

void opentl::math::Transform::rotate	(	double	x,
		double	y,
		double	z,
		double	a,
		bool	world = false
	)

rotate about XYZ axes

Parameters:

	x,y,z	values of axis
	a,b,c	rotation angles in rad
	world	if true do rotation in world coordinate system else in local system

void opentl::math::Transform::rotateX	(	double	angle,
		bool	world = false
	)

rotate about x axis

Parameters:

	angle	rotation angle in rad
	world	if true do rotation in world coordinate system else in local system

void opentl::math::Transform::rotateY	(	double	angle,
		bool	world = false
	)

rotate about y axis

Parameters:

	angle	rotation angle
	world	if true do rotation in world coordinate system else in local system

void opentl::math::Transform::rotateZ	(	double	angle,
		bool	world = false
	)

rotate about z axis

Parameters:

	angle	rotation angle in rad
	world	if true do rotation in world coordinate system else in local system

virtual void opentl::math::Transform::rotationFromRodrigues

(

const Vector3 &

rod

)

[virtual]

brief set rotation from a rodriguez vector

void opentl::math::Transform::scale	(	double	x,
		double	y,
		double	z,
		bool	world = false
	)

scale along arbitrary axis

Parameters:

	x,y,z	values of axis
	world	if true do scaling in word coordinate system else in local system

void opentl::math::Transform::setTransform

(

const double

values[4][4]

)

set transformation data

Parameters:

values

transformation data

void opentl::math::Transform::setTransform

(

const float

values[4][4]

)

set transformation data

Parameters:

values

transformation data

void opentl::math::Transform::setTranslation	(	double	x,
		double	y,
		double	z
	)

set translation data

Parameters:

x,y,z

translation data

void opentl::math::Transform::translate	(	double	x,
		double	y,
		double	z,
		bool	world = false
	)

translate along arbitrary axis

Parameters:

	x,y,z	values of axis
	world	if true do translation in word coordinate system else in local sys