coal  3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
coal::Transform3s Class Reference

Simple transform class used locally by InterpMotion. More...

#include <coal/math/transform.h>

Public Member Functions

 Transform3s ()
 Default transform is no movement. More...
 
template<typename Matrixx3Like , typename Vector3Like >
 Transform3s (const Eigen::MatrixBase< Matrixx3Like > &R_, const Eigen::MatrixBase< Vector3Like > &T_)
 Construct transform from rotation and translation. More...
 
template<typename Vector3Like >
 Transform3s (const Quats &q_, const Eigen::MatrixBase< Vector3Like > &T_)
 Construct transform from rotation and translation. More...
 
 Transform3s (const Matrix3s &R_)
 Construct transform from rotation. More...
 
 Transform3s (const Quats &q_)
 Construct transform from rotation. More...
 
 Transform3s (const Vec3s &T_)
 Construct transform from translation. More...
 
 Transform3s (const Transform3s &tf)
 Construct transform from other transform. More...
 
Transform3soperator= (const Transform3s &tf)
 operator = More...
 
const Vec3sgetTranslation () const
 get translation More...
 
const Vec3stranslation () const
 get translation More...
 
Vec3stranslation ()
 get translation More...
 
const Matrix3sgetRotation () const
 get rotation More...
 
const Matrix3srotation () const
 get rotation More...
 
Matrix3srotation ()
 get rotation More...
 
Quats getQuatRotation () const
 get quaternion More...
 
template<typename Matrix3Like , typename Vector3Like >
void setTransform (const Eigen::MatrixBase< Matrix3Like > &R_, const Eigen::MatrixBase< Vector3Like > &T_)
 set transform from rotation and translation More...
 
void setTransform (const Quats &q_, const Vec3s &T_)
 set transform from rotation and translation More...
 
template<typename Derived >
void setRotation (const Eigen::MatrixBase< Derived > &R_)
 set transform from rotation More...
 
template<typename Derived >
void setTranslation (const Eigen::MatrixBase< Derived > &T_)
 set transform from translation More...
 
void setQuatRotation (const Quats &q_)
 set transform from rotation More...
 
template<typename Derived >
Vec3s transform (const Eigen::MatrixBase< Derived > &v) const
 transform a given vector by the transform More...
 
template<typename Derived >
Vec3s inverseTransform (const Eigen::MatrixBase< Derived > &v) const
 transform a given vector by the inverse of the transform More...
 
Transform3sinverseInPlace ()
 inverse transform More...
 
Transform3s inverse ()
 inverse transform More...
 
Transform3s inverseTimes (const Transform3s &other) const
 inverse the transform and multiply with another More...
 
const Transform3soperator*= (const Transform3s &other)
 multiply with another transform More...
 
Transform3s operator* (const Transform3s &other) const
 multiply with another transform More...
 
bool isIdentity (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 check whether the transform is identity More...
 
void setIdentity ()
 set the transform to be identity transform More...
 
void setRandom ()
 set the transform to a random transform More...
 
bool operator== (const Transform3s &other) const
 
bool operator!= (const Transform3s &other) const
 

Static Public Member Functions

static Transform3s Identity ()
 
static Transform3s Random ()
 return a random transform More...
 

Detailed Description

Simple transform class used locally by InterpMotion.

Constructor & Destructor Documentation

◆ Transform3s() [1/7]

coal::Transform3s::Transform3s ( )
inline

Default transform is no movement.

◆ Transform3s() [2/7]

template<typename Matrixx3Like , typename Vector3Like >
coal::Transform3s::Transform3s ( const Eigen::MatrixBase< Matrixx3Like > &  R_,
const Eigen::MatrixBase< Vector3Like > &  T_ 
)
inline

Construct transform from rotation and translation.

◆ Transform3s() [3/7]

template<typename Vector3Like >
coal::Transform3s::Transform3s ( const Quats q_,
const Eigen::MatrixBase< Vector3Like > &  T_ 
)
inline

Construct transform from rotation and translation.

◆ Transform3s() [4/7]

coal::Transform3s::Transform3s ( const Matrix3s R_)
inline

Construct transform from rotation.

◆ Transform3s() [5/7]

coal::Transform3s::Transform3s ( const Quats q_)
inline

Construct transform from rotation.

◆ Transform3s() [6/7]

coal::Transform3s::Transform3s ( const Vec3s T_)
inline

Construct transform from translation.

◆ Transform3s() [7/7]

coal::Transform3s::Transform3s ( const Transform3s tf)
inline

Construct transform from other transform.

Member Function Documentation

◆ getQuatRotation()

Quats coal::Transform3s::getQuatRotation ( ) const
inline

get quaternion

◆ getRotation()

const Matrix3s& coal::Transform3s::getRotation ( ) const
inline

get rotation

◆ getTranslation()

const Vec3s& coal::Transform3s::getTranslation ( ) const
inline

get translation

◆ Identity()

static Transform3s coal::Transform3s::Identity ( )
inlinestatic

◆ inverse()

Transform3s coal::Transform3s::inverse ( )
inline

inverse transform

◆ inverseInPlace()

Transform3s& coal::Transform3s::inverseInPlace ( )
inline

inverse transform

◆ inverseTimes()

Transform3s coal::Transform3s::inverseTimes ( const Transform3s other) const
inline

inverse the transform and multiply with another

◆ inverseTransform()

template<typename Derived >
Vec3s coal::Transform3s::inverseTransform ( const Eigen::MatrixBase< Derived > &  v) const
inline

transform a given vector by the inverse of the transform

◆ isIdentity()

bool coal::Transform3s::isIdentity ( const Scalar prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
inline

check whether the transform is identity

◆ operator!=()

bool coal::Transform3s::operator!= ( const Transform3s other) const
inline

◆ operator*()

Transform3s coal::Transform3s::operator* ( const Transform3s other) const
inline

multiply with another transform

◆ operator*=()

const Transform3s& coal::Transform3s::operator*= ( const Transform3s other)
inline

multiply with another transform

◆ operator=()

Transform3s& coal::Transform3s::operator= ( const Transform3s tf)
inline

operator =

◆ operator==()

bool coal::Transform3s::operator== ( const Transform3s other) const
inline

◆ Random()

static Transform3s coal::Transform3s::Random ( )
inlinestatic

return a random transform

◆ rotation() [1/2]

Matrix3s& coal::Transform3s::rotation ( )
inline

get rotation

◆ rotation() [2/2]

const Matrix3s& coal::Transform3s::rotation ( ) const
inline

get rotation

◆ setIdentity()

void coal::Transform3s::setIdentity ( )
inline

set the transform to be identity transform

◆ setQuatRotation()

void coal::Transform3s::setQuatRotation ( const Quats q_)
inline

set transform from rotation

◆ setRandom()

void coal::Transform3s::setRandom ( )
inline

set the transform to a random transform

◆ setRotation()

template<typename Derived >
void coal::Transform3s::setRotation ( const Eigen::MatrixBase< Derived > &  R_)
inline

set transform from rotation

◆ setTransform() [1/2]

template<typename Matrix3Like , typename Vector3Like >
void coal::Transform3s::setTransform ( const Eigen::MatrixBase< Matrix3Like > &  R_,
const Eigen::MatrixBase< Vector3Like > &  T_ 
)
inline

set transform from rotation and translation

◆ setTransform() [2/2]

void coal::Transform3s::setTransform ( const Quats q_,
const Vec3s T_ 
)
inline

set transform from rotation and translation

◆ setTranslation()

template<typename Derived >
void coal::Transform3s::setTranslation ( const Eigen::MatrixBase< Derived > &  T_)
inline

set transform from translation

◆ transform()

template<typename Derived >
Vec3s coal::Transform3s::transform ( const Eigen::MatrixBase< Derived > &  v) const
inline

transform a given vector by the transform

◆ translation() [1/2]

Vec3s& coal::Transform3s::translation ( )
inline

get translation

◆ translation() [2/2]

const Vec3s& coal::Transform3s::translation ( ) const
inline

get translation


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