hpp-fcl 2.4.5
HPP fork of FCL -- The Flexible Collision Library
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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.
 
template<typename Matrixx3Like , typename Vector3Like >
 Transform3f (const Eigen::MatrixBase< Matrixx3Like > &R_, const Eigen::MatrixBase< Vector3Like > &T_)
 Construct transform from rotation and translation.
 
template<typename Vector3Like >
 Transform3f (const Quaternion3f &q_, const Eigen::MatrixBase< Vector3Like > &T_)
 Construct transform from rotation and translation.
 
 Transform3f (const Matrix3f &R_)
 Construct transform from rotation.
 
 Transform3f (const Quaternion3f &q_)
 Construct transform from rotation.
 
 Transform3f (const Vec3f &T_)
 Construct transform from translation.
 
 Transform3f (const Transform3f &tf)
 Construct transform from other transform.
 
Transform3foperator= (const Transform3f &tf)
 operator =
 
const Vec3fgetTranslation () const
 get translation
 
const Vec3ftranslation () const
 get translation
 
Vec3ftranslation ()
 get translation
 
const Matrix3fgetRotation () const
 get rotation
 
const Matrix3frotation () const
 get rotation
 
Matrix3frotation ()
 get rotation
 
Quaternion3f 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 Quaternion3f &q_, const Vec3f &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 Quaternion3f &q_)
 set transform from rotation
 
template<typename Derived >
Vec3f transform (const Eigen::MatrixBase< Derived > &v) const
 transform a given vector by the transform
 
Transform3finverseInPlace ()
 inverse transform
 
Transform3f inverse ()
 inverse transform
 
Transform3f inverseTimes (const Transform3f &other) const
 inverse the transform and multiply with another
 
const Transform3foperator*= (const Transform3f &other)
 multiply with another transform
 
Transform3f operator* (const Transform3f &other) const
 multiply with another transform
 
bool isIdentity (const FCL_REAL &prec=Eigen::NumTraits< FCL_REAL >::dummy_precision()) const
 check whether the transform is identity
 
void setIdentity ()
 set the transform to be identity transform
 
bool operator== (const Transform3f &other) const
 
bool operator!= (const Transform3f &other) const
 

Static Public Member Functions

static Transform3f Identity ()
 

Detailed Description

Simple transform class used locally by InterpMotion.

Constructor & Destructor Documentation

◆ Transform3f() [1/7]

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

Default transform is no movement.

◆ Transform3f() [2/7]

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() [3/7]

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

Construct transform from rotation and translation.

◆ Transform3f() [4/7]

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

Construct transform from rotation.

◆ Transform3f() [5/7]

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

Construct transform from rotation.

◆ Transform3f() [6/7]

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

Construct transform from translation.

◆ Transform3f() [7/7]

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

Construct transform from other transform.

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

◆ Identity()

static Transform3f hpp::fcl::Transform3f::Identity ( )
inlinestatic

◆ 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 FCL_REAL & prec = Eigen::NumTraits<FCL_REAL>::dummy_precision()) 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

◆ rotation() [1/2]

Matrix3f & hpp::fcl::Transform3f::rotation ( )
inline

get rotation

◆ rotation() [2/2]

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

get rotation

◆ 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

◆ translation() [1/2]

Vec3f & hpp::fcl::Transform3f::translation ( )
inline

get translation

◆ translation() [2/2]

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

get translation


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