hpp::fcl::Transform3f Class Reference

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...
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 Quaternion3f &q_)
	set transform from rotation More...
template<typename Derived >
Vec3f	transform (const Eigen::MatrixBase< Derived > &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

hpp::fcl::Transform3f::Transform3f ( )

inline

Default transform is no movement.

References setIdentity().

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

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

inline

Construct transform from rotation and translation.

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

inline

Construct transform from rotation and translation.

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

inline

Construct transform from rotation.

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

inline

Construct transform from rotation.

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

inline

Construct transform from translation.

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

inline

Construct transform from another transform.

Member Function Documentation

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

inline

get quaternion

Referenced by operator==().

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

inline

get rotation

Referenced by hpp::fcl::details::boxBoxIntersect(), hpp::fcl::details::boxHalfspaceIntersect(), hpp::fcl::details::boxPlaneIntersect(), hpp::fcl::details::boxSphereDistance(), hpp::fcl::MeshShapeCollisionTraversalNode< kIOS, S, NarrowPhaseSolver, 0 >::BVTesting(), hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 >::BVTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::details::capsuleHalfspaceIntersect(), hpp::fcl::details::capsulePlaneIntersect(), hpp::fcl::details::coneHalfspaceIntersect(), hpp::fcl::details::conePlaneIntersect(), hpp::fcl::details::cylinderHalfspaceIntersect(), hpp::fcl::details::cylinderPlaneIntersect(), hpp::fcl::details::setupShapeMeshDistanceOrientedNode(), hpp::fcl::GJKSolver_indep::shapeDistance(), hpp::fcl::GJKSolver_indep::shapeIntersect(), hpp::fcl::GJKSolver_indep::shapeTriangleInteraction(), and hpp::fcl::details::sphereCylinderDistance().

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

inline

get translation

Referenced by hpp::fcl::details::boxBoxIntersect(), hpp::fcl::details::boxHalfspaceIntersect(), hpp::fcl::details::boxPlaneIntersect(), hpp::fcl::details::boxSphereDistance(), hpp::fcl::MeshShapeCollisionTraversalNode< kIOS, S, NarrowPhaseSolver, 0 >::BVTesting(), hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 >::BVTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::details::capsuleHalfspaceIntersect(), hpp::fcl::details::capsulePlaneIntersect(), hpp::fcl::details::coneHalfspaceIntersect(), hpp::fcl::details::conePlaneIntersect(), hpp::fcl::details::cylinderHalfspaceIntersect(), hpp::fcl::details::cylinderPlaneIntersect(), operator==(), hpp::fcl::details::setupShapeMeshDistanceOrientedNode(), hpp::fcl::details::sphereCapsuleDistance(), hpp::fcl::details::sphereCapsuleIntersect(), hpp::fcl::details::sphereCylinderDistance(), hpp::fcl::details::sphereHalfspaceIntersect(), hpp::fcl::details::spherePlaneIntersect(), hpp::fcl::details::sphereSphereDistance(), hpp::fcl::details::sphereSphereIntersect(), hpp::fcl::details::sphereTriangleDistance(), and hpp::fcl::details::sphereTriangleIntersect().

Transform3f& hpp::fcl::Transform3f::inverse ( )

inline

inverse transform

Referenced by operator!=(), hpp::fcl::details::sphereCapsuleDistance(), and hpp::fcl::details::sphereCapsuleIntersect().

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

inline

inverse the transform and multiply with another

References Transform3f().

Referenced by hpp::fcl::GJKSolver_indep::shapeDistance(), hpp::fcl::GJKSolver_indep::shapeIntersect(), and hpp::fcl::GJKSolver_indep::shapeTriangleInteraction().

bool hpp::fcl::Transform3f::isIdentity ( ) const

inline

check whether the transform is identity

References hpp::fcl::isQuatIdentity().

Referenced by hpp::fcl::initialize().

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

inline

References inverse(), hpp::fcl::relativeTransform(), and hpp::fcl::relativeTransform2().

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

inline

multiply with another transform

References Transform3f().

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

inline

multiply with another transform

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

inline

operator =

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

inline

References hpp::fcl::areQuatEquals(), getQuatRotation(), and getTranslation().

void hpp::fcl::Transform3f::setIdentity ( )

inline

set the transform to be identity transform

Referenced by hpp::fcl::initialize(), and Transform3f().

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

inline

set transform from rotation

template<typename Derived >

void hpp::fcl::Transform3f::setRotation ( const Eigen::MatrixBase< Derived > &  R_ )

inline

set transform from rotation

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

inline

set transform from rotation and translation

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

inline

set transform from rotation and translation

template<typename Derived >

void hpp::fcl::Transform3f::setTranslation ( const Eigen::MatrixBase< Derived > &  T_ )

inline

set transform from translation

template<typename Derived >

Vec3f hpp::fcl::Transform3f::transform ( const Eigen::MatrixBase< Derived > &  v ) const

inline

transform a given vector by the transform

Referenced by hpp::fcl::details::computePenetration(), hpp::fcl::details::convexHalfspaceIntersect(), hpp::fcl::details::convexPlaneIntersect(), hpp::fcl::generateBVHModel(), hpp::fcl::details::halfspaceTriangleIntersect(), hpp::fcl::initialize(), hpp::fcl::details::planeTriangleIntersect(), hpp::fcl::GJKSolver_indep::shapeDistance(), hpp::fcl::GJKSolver_indep::shapeIntersect(), hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance(), hpp::fcl::GJKSolver_indep::shapeTriangleInteraction(), hpp::fcl::details::sphereCapsuleDistance(), hpp::fcl::details::sphereCapsuleIntersect(), hpp::fcl::details::sphereCylinderDistance(), hpp::fcl::details::sphereTriangleDistance(), and hpp::fcl::details::MinkowskiDiff::support1().