Simple transform class used locally by InterpMotion. More...
#include <hpp/fcl/math/transform.h>
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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 |
Simple transform class used locally by InterpMotion.
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Default transform is no movement.
References setIdentity().
Referenced by inverseTimes(), and operator*().
Construct transform from rotation and translation.
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Construct transform from rotation and translation.
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Construct transform from rotation.
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Construct transform from rotation.
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Construct transform from translation.
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Construct transform from another transform.
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get quaternion
Referenced by operator==().
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get rotation
Referenced by fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::details::setupShapeMeshDistanceOrientedNode(), fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), and fcl::GJKSolver_indep::shapeTriangleIntersect().
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get translation
Referenced by fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), operator==(), and fcl::details::setupShapeMeshDistanceOrientedNode().
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inverse transform
Referenced by operator!=().
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inverse the transform and multiply with another
References Transform3f().
Referenced by fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), and fcl::GJKSolver_indep::shapeTriangleIntersect().
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check whether the transform is identity
References fcl::isQuatIdentity().
Referenced by fcl::initialize().
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References inverse(), fcl::relativeTransform(), and fcl::relativeTransform2().
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multiply with another transform
References Transform3f().
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multiply with another transform
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operator =
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References fcl::areQuatEquals(), getQuatRotation(), and getTranslation().
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set the transform to be identity transform
Referenced by fcl::initialize(), and Transform3f().
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set transform from rotation
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set transform from rotation
set transform from rotation and translation
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set transform from rotation and translation
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set transform from translation
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transform a given vector by the transform
Referenced by fcl::generateBVHModel(), fcl::initialize(), fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance(), fcl::GJKSolver_indep::shapeTriangleDistance(), fcl::GJKSolver_indep::shapeTriangleIntersect(), and fcl::details::MinkowskiDiff::support1().