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

#include <hpp/fcl/math/transform.h>

Public Member Functions
	Transform3f ()
	Default transform is no movement. More...

	Transform3f (const Matrix3f &R_, const Vec3f &T_)
	Construct transform from rotation and translation. More...

	Transform3f (const Quaternion3f &q_, const Vec3f &T_)
	Construct transform from rotation and translation. More...

	Transform3f (const Matrix3f &R_)
	Construct transform from rotation. More...

	Transform3f (const Quaternion3f &q_)
	Construct transform from rotation. More...

	Transform3f (const Vec3f &T_)
	Construct transform from translation. More...

	Transform3f (const Transform3f &tf)
	Construct transform from another transform. More...

Transform3f &	operator= (const Transform3f &tf)
	operator = More...

const Vec3f &	getTranslation () const
	get translation More...

const Matrix3f &	getRotation () const
	get rotation More...

const Quaternion3f &	getQuatRotation () const
	get quaternion More...

void	setTransform (const Matrix3f &R_, const Vec3f &T_)
	set transform from rotation and translation More...

void	setTransform (const Quaternion3f &q_, const Vec3f &T_)
	set transform from rotation and translation More...

void	setRotation (const Matrix3f &R_)
	set transform from rotation More...

void	setTranslation (const Vec3f &T_)
	set transform from translation More...

void	setQuatRotation (const Quaternion3f &q_)
	set transform from rotation More...

Vec3f	transform (const Vec3f &v) const
	transform a given vector by the transform More...

Transform3f &	inverse ()
	inverse transform More...

Transform3f	inverseTimes (const Transform3f &other) const
	inverse the transform and multiply with another More...

const Transform3f &	operator*= (const Transform3f &other)
	multiply with another transform More...

Transform3f	operator* (const Transform3f &other) const
	multiply with another transform More...

bool	isIdentity () const
	check whether the transform is identity More...

void	setIdentity ()
	set the transform to be identity transform More...

bool	operator== (const Transform3f &other) const

bool	operator!= (const Transform3f &other) const

Detailed Description

Simple transform class used locally by InterpMotion.

Constructor & Destructor Documentation

fcl::Transform3f::Transform3f ( )

inline

Default transform is no movement.

References setIdentity().

Referenced by inverseTimes(), and operator*().

fcl::Transform3f::Transform3f	(	const Matrix3f &	R_,
		const Vec3f &	T_
	)

inline

Construct transform from rotation and translation.

References fcl::Quaternion3f::fromRotation().

fcl::Transform3f::Transform3f	(	const Quaternion3f &	q_,
		const Vec3f &	T_
	)

inline

Construct transform from rotation and translation.

fcl::Transform3f::Transform3f ( const Matrix3f & R_ )

inline

Construct transform from rotation.

References fcl::Quaternion3f::fromRotation().

fcl::Transform3f::Transform3f ( const Quaternion3f & q_ )

inline

Construct transform from rotation.

fcl::Transform3f::Transform3f ( const Vec3f & T_ )

inline

Construct transform from translation.

References fcl::Matrix3fX< T >::setIdentity().

fcl::Transform3f::Transform3f ( const Transform3f & tf )

inline

Construct transform from another transform.

Member Function Documentation

const Quaternion3f& fcl::Transform3f::getQuatRotation ( ) const

inline

get quaternion

Referenced by fcl::ScrewMotion::absoluteRotation(), fcl::CollisionObject::computeAABB(), fcl::ScrewMotion::computeScrewParameter(), fcl::MotionBase::getCurrentRotation(), fcl::MotionBase::getCurrentTransform(), fcl::CollisionObject::getQuatRotation(), fcl::InterpMotion::getTaylorModel(), and operator==().

const Matrix3f& fcl::Transform3f::getRotation ( ) const

inline

get rotation

const Vec3f& fcl::Transform3f::getTranslation ( ) const

inline

get translation

Transform3f& fcl::Transform3f::inverse ( )

inline

inverse transform

References fcl::Quaternion3f::conj(), and fcl::Quaternion3f::transform().

Transform3f fcl::Transform3f::inverseTimes ( const Transform3f & other ) const

inline

inverse the transform and multiply with another

References fcl::conj(), fcl::Quaternion3f::transform(), and Transform3f().

Referenced by fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), and fcl::GJKSolver_indep::shapeTriangleIntersect().

bool fcl::Transform3f::isIdentity ( ) const

inline

check whether the transform is identity

References fcl::Quaternion3f::isIdentity(), and fcl::Vec3fX< T >::isZero().

Referenced by fcl::initialize(), and fcl::CollisionObject::isIdentityTransform().

bool fcl::Transform3f::operator!= ( const Transform3f & other ) const

inline

Transform3f fcl::Transform3f::operator* ( const Transform3f & other ) const

inline

multiply with another transform

References fcl::Quaternion3f::transform(), and Transform3f().

const Transform3f& fcl::Transform3f::operator*= ( const Transform3f & other )

inline

multiply with another transform

References fcl::Quaternion3f::transform().

Transform3f& fcl::Transform3f::operator= ( const Transform3f & tf )

inline

operator =

bool fcl::Transform3f::operator== ( const Transform3f & other ) const

inline

References getQuatRotation(), and getTranslation().

void fcl::Transform3f::setIdentity ( )

inline

set the transform to be identity transform

References fcl::Matrix3fX< T >::setIdentity(), and fcl::Vec3fX< T >::setValue().

Referenced by fcl::initialize(), fcl::CollisionObject::setIdentityTransform(), and Transform3f().

void fcl::Transform3f::setQuatRotation ( const Quaternion3f & q_ )

inline

set transform from rotation

Referenced by fcl::ScrewMotion::integrate(), and fcl::CollisionObject::setQuatRotation().

void fcl::Transform3f::setRotation ( const Matrix3f & R_ )

inline

set transform from rotation

References fcl::Quaternion3f::fromRotation().

Referenced by fcl::CollisionObject::setRotation().

void fcl::Transform3f::setTransform	(	const Matrix3f &	R_,
		const Vec3f &	T_
	)

inline

set transform from rotation and translation

References fcl::Quaternion3f::fromRotation().

Referenced by fcl::CollisionObject::setTransform().

void fcl::Transform3f::setTransform	(	const Quaternion3f &	q_,
		const Vec3f &	T_
	)

inline

set transform from rotation and translation

void fcl::Transform3f::setTranslation ( const Vec3f & T_ )

inline

set transform from translation

Referenced by fcl::ScrewMotion::integrate(), and fcl::CollisionObject::setTranslation().

Vec3f fcl::Transform3f::transform ( const Vec3f & v ) const

inline

transform a given vector by the transform

References fcl::Quaternion3f::transform().

Referenced by fcl::CollisionObject::computeAABB(), fcl::generateBVHModel(), fcl::InterpMotion::getTaylorModel(), fcl::initialize(), fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), fcl::GJKSolver_indep::shapeTriangleIntersect(), and fcl::details::MinkowskiDiff::support1().

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation