coal
3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
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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... | |
Transform3s & | operator= (const Transform3s &tf) |
operator = More... | |
const Vec3s & | getTranslation () const |
get translation More... | |
const Vec3s & | translation () const |
get translation More... | |
Vec3s & | translation () |
get translation More... | |
const Matrix3s & | getRotation () const |
get rotation More... | |
const Matrix3s & | rotation () const |
get rotation More... | |
Matrix3s & | rotation () |
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... | |
Transform3s & | inverseInPlace () |
inverse transform More... | |
Transform3s | inverse () |
inverse transform More... | |
Transform3s | inverseTimes (const Transform3s &other) const |
inverse the transform and multiply with another More... | |
const Transform3s & | operator*= (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... | |
Simple transform class used locally by InterpMotion.
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Default transform is no movement.
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Construct transform from rotation and translation.
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Construct transform from rotation and translation.
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Construct transform from rotation.
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Construct transform from rotation.
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Construct transform from translation.
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Construct transform from other transform.
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get quaternion
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get rotation
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get translation
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inlinestatic |
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inverse transform
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inverse transform
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inverse the transform and multiply with another
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transform a given vector by the inverse of the transform
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check whether the transform is identity
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multiply with another transform
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multiply with another transform
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operator =
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inlinestatic |
return a random transform
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get rotation
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get rotation
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set the transform to be identity transform
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set transform from rotation
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set the transform to a random transform
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set transform from rotation
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set transform from rotation and translation
set transform from rotation and translation
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set transform from translation
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transform a given vector by the transform
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get translation
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get translation