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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Public Member Functions | Static Public Member Functions | List of all members
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.
 
template<typename Matrixx3Like , typename Vector3Like >
 Transform3s (const Eigen::MatrixBase< Matrixx3Like > &R_, const Eigen::MatrixBase< Vector3Like > &T_)
 Construct transform from rotation and translation.
 
template<typename Vector3Like >
 Transform3s (const Quats &q_, const Eigen::MatrixBase< Vector3Like > &T_)
 Construct transform from rotation and translation.
 
 Transform3s (const Matrix3s &R_)
 Construct transform from rotation.
 
 Transform3s (const Quats &q_)
 Construct transform from rotation.
 
 Transform3s (const Vec3s &T_)
 Construct transform from translation.
 
 Transform3s (const Transform3s &tf)
 Construct transform from other transform.
 
Transform3s & operator= (const Transform3s &tf)
 operator =
 
const Vec3s & getTranslation () const
 get translation
 
const Vec3s & translation () const
 get translation
 
Vec3s & translation ()
 get translation
 
const Matrix3s & getRotation () const
 get rotation
 
const Matrix3s & rotation () const
 get rotation
 
Matrix3s & rotation ()
 get rotation
 
Quats getQuatRotation () const
 get quaternion
 
template<typename Matrix3Like , typename Vector3Like >
void setTransform (const Eigen::MatrixBase< Matrix3Like > &R_, const Eigen::MatrixBase< Vector3Like > &T_)
 set transform from rotation and translation
 
void setTransform (const Quats &q_, const Vec3s &T_)
 set transform from rotation and translation
 
template<typename Derived >
void setRotation (const Eigen::MatrixBase< Derived > &R_)
 set transform from rotation
 
template<typename Derived >
void setTranslation (const Eigen::MatrixBase< Derived > &T_)
 set transform from translation
 
void setQuatRotation (const Quats &q_)
 set transform from rotation
 
template<typename Derived >
Vec3s transform (const Eigen::MatrixBase< Derived > &v) const
 transform a given vector by the transform
 
template<typename Derived >
Vec3s inverseTransform (const Eigen::MatrixBase< Derived > &v) const
 transform a given vector by the inverse of the transform
 
Transform3s & inverseInPlace ()
 inverse transform
 
Transform3s inverse ()
 inverse transform
 
Transform3s inverseTimes (const Transform3s &other) const
 inverse the transform and multiply with another
 
const Transform3s & operator*= (const Transform3s &other)
 multiply with another transform
 
Transform3s operator* (const Transform3s &other) const
 multiply with another transform
 
bool isIdentity (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 check whether the transform is identity
 
void setIdentity ()
 set the transform to be identity transform
 
void setRandom ()
 set the transform to a random transform
 
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
 

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: