libt3d  2.6
Public Member Functions | Public Attributes | Friends | List of all members
T3D Union Reference

A 3D affine transformation. More...

#include <t3d.h>

Public Member Functions

 T3D (T3DType type, int flags, T3DError error, const double *d1=0x0, const double *d2=0x0)
 T3D constructor. More...
 
 T3D (T3DType type=T3D_MATRIX, int flags=0)
 T3D constructor. More...
 
 T3D (const T3D *t3d)
 T3D constructor. More...
 
 T3D (const T3DMatrix &m)
 T3D constructor. More...
 
 T3D (double _yaw, double _pitch, double _roll, double _x, double _y, double _z)
 T3DBryan constructor. More...
 
T3Dinvert (void)
 Invert a T3D. More...
 
T3DconvertTo (T3DType type)
 Convert a T3D into another representation. More...
 
T3D operator~ (void) const
 Inverse of a T3D. More...
 
T3D operator* (T3D &t3d)
 Composition of two T3D. More...
 

Public Attributes

T3DMatrix matrix
 Homogeneous matrix.
 
T3DUMatrix umatrix
 Uncertain homogeneous matrix.
 
T3DBryan bryan
 Tait-Bryan angles and translation.
 
T3DUBryan ubryan
 Uncertain Tait-Bryan.
 
T3DVector vector
 Rotation vector.
 
T3DUVector uvector
 Uncertain rotation vector.
 
T3DUBryan euler
 
T3DType type
 internal representation type.
 
short flags
 special behavior.
 
int err
 last error code.
 

Friends

V3D operator* (T3D &t3d, const V3D &b)
 Apply a T3D to a V3D. More...
 
std::ostream & operator<< (std::ostream &os, const T3D &t3d)
 Output a ASCII T3D description to a stream. More...
 

Detailed Description

A 3D affine transformation.

This union is the base class of affine transforms. It can hold any representation, but only one at a time. Implicits or explicits conversions can be performed.

Friends And Related Function Documentation

◆ operator*

V3D operator* ( T3D t3d,
const V3D b 
)
friend

Apply a T3D to a V3D.

Parameters
[in]t3dT3D to apply on vector.
[in]bVector to transform.
Returns
A new transformed vector.

◆ operator<<

std::ostream& operator<< ( std::ostream &  os,
const T3D t3d 
)
friend

Output a ASCII T3D description to a stream.

Parameters
[in]sStream to dump on.
[in]t3dT3D to dump.
Returns
reference on the output stream.

Member Data Documentation

◆ euler

T3DUBryan euler