Public Member Functions
fcl::Transform3f Class Reference

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

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

List of all members.

Public Member Functions

 Transform3f ()
 Default transform is no movement.
 Transform3f (const Matrix3f &R_, const Vec3f &T_)
 Construct transform from rotation and translation.
 Transform3f (const Quaternion3f &q_, const Vec3f &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 another transform.
Transform3foperator= (const Transform3f &tf)
 operator =
const Vec3fgetTranslation () const
 get translation
const Matrix3fgetRotation () const
 get rotation
const Quaternion3fgetQuatRotation () const
 get quaternion
void setTransform (const Matrix3f &R_, const Vec3f &T_)
 set transform from rotation and translation
void setTransform (const Quaternion3f &q_, const Vec3f &T_)
 set transform from rotation and translation
void setRotation (const Matrix3f &R_)
 set transform from rotation
void setTranslation (const Vec3f &T_)
 set transform from translation
void setQuatRotation (const Quaternion3f &q_)
 set transform from rotation
Vec3f transform (const Vec3f &v) const
 transform a given vector by the transform
Transform3finverse ()
 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
 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

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]
const Matrix3f& fcl::Transform3f::getRotation ( ) const [inline]
const Vec3f& fcl::Transform3f::getTranslation ( ) const [inline]
Transform3f& fcl::Transform3f::inverse ( ) [inline]

inverse transform

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

Transform3f fcl::Transform3f::inverseTimes ( const Transform3f other) const [inline]
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]
void fcl::Transform3f::setIdentity ( ) [inline]
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]
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