hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
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...
 
template<typename Matrixx3Like , typename Vector3Like >
 Transform3f (const Eigen::MatrixBase< Matrixx3Like > &R_, const Eigen::MatrixBase< Vector3Like > &T_)
 Construct transform from rotation and translation. More...
 
template<typename Vector3Like >
 Transform3f (const Quaternion3f &q_, const Eigen::MatrixBase< Vector3Like > &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...
 
Transform3foperator= (const Transform3f &tf)
 operator = More...
 
const Vec3fgetTranslation () const
 get translation More...
 
const Matrix3fgetRotation () const
 get rotation More...
 
Quaternion3f 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 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...
 
Transform3finverseInPlace ()
 inverse transform More...
 
Transform3f inverse ()
 inverse transform More...
 
Transform3f inverseTimes (const Transform3f &other) const
 inverse the transform and multiply with another More...
 
const Transform3foperator*= (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

◆ Transform3f() [1/6]

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

Default transform is no movement.

◆ Transform3f() [2/6]

template<typename Matrixx3Like , typename Vector3Like >
hpp::fcl::Transform3f::Transform3f ( const Eigen::MatrixBase< Matrixx3Like > &  R_,
const Eigen::MatrixBase< Vector3Like > &  T_ 
)
inline

Construct transform from rotation and translation.

◆ Transform3f() [3/6]

template<typename Vector3Like >
hpp::fcl::Transform3f::Transform3f ( const Quaternion3f q_,
const Eigen::MatrixBase< Vector3Like > &  T_ 
)
inline

Construct transform from rotation and translation.

◆ Transform3f() [4/6]

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

Construct transform from rotation.

◆ Transform3f() [5/6]

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

Construct transform from rotation.

◆ Transform3f() [6/6]

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

Construct transform from translation.

Member Function Documentation

◆ getQuatRotation()

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

get quaternion

◆ getRotation()

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

get rotation

◆ getTranslation()

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

get translation

◆ inverse()

Transform3f hpp::fcl::Transform3f::inverse ( )
inline

inverse transform

◆ inverseInPlace()

Transform3f& hpp::fcl::Transform3f::inverseInPlace ( )
inline

inverse transform

◆ inverseTimes()

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

inverse the transform and multiply with another

◆ isIdentity()

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

check whether the transform is identity

◆ operator!=()

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

◆ operator*()

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

multiply with another transform

◆ operator*=()

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

multiply with another transform

◆ operator=()

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

operator =

◆ operator==()

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

◆ setIdentity()

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

set the transform to be identity transform

◆ setQuatRotation()

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

set transform from rotation

◆ setRotation()

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

set transform from rotation

◆ setTransform() [1/2]

template<typename Matrix3Like , typename Vector3Like >
void hpp::fcl::Transform3f::setTransform ( const Eigen::MatrixBase< Matrix3Like > &  R_,
const Eigen::MatrixBase< Vector3Like > &  T_ 
)
inline

set transform from rotation and translation

◆ setTransform() [2/2]

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

set transform from rotation and translation

◆ setTranslation()

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

set transform from translation

◆ transform()

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

transform a given vector by the transform


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