deFrame Class Reference

Transformation class using quaternionThis class consists of a quaternion for rotation and a vector for translation. More...

#include <TaoDeFrame.h>

Collaboration diagram for deFrame:

Public Member Functions
	deFrame ()
	deFrame (deFloat tx, deFloat ty, deFloat tz)
	deFrame (deFrame const &orig)
deQuaternion &	rotation ()
const deQuaternion &	rotation () const
deVector3 &	translation ()
const deVector3 &	translation () const
DE_MATH_API void	identity ()
	this = identity matrix More...
DE_MATH_API void	operator= (const deFrame &f)
	this = f More...
DE_MATH_API void	multiply (const deFrame &f1, const deFrame &f2)
	this = f1 * f2 = [r1,p1][r2,p2] = [r1*r2, r1*p2 + p1] More...
DE_MATH_API void	inversedMultiply (const deFrame &f1, const deFrame &f2)
	this = f1^-1 * f2 More...
DE_MATH_API void	multiplyInversed (const deFrame &f1, const deFrame &f2)
	this = f1 * f2^-1 More...
DE_MATH_API void	inverse (const deFrame &f)
	this = f^-1 More...
DE_MATH_API void	set (const deTransform &t)
	this = t More...
DE_MATH_API void	set (const deQuaternion &q, const deVector3 &v)
	this = [q, v] More...

Private Attributes
deQuaternion	ori_quat_
deVector3	translation_

Detailed Description

Transformation class using quaternion

This class consists of a quaternion for rotation and a vector for translation.

Edited 2013-09-09 : Samir Menon smeno.nosp@m.n@st.nosp@m.anfor.nosp@m.d.ed.nosp@m.u

See Also

deVector3, deQuaternion, deTransform

This is used to store all the transformations between different geometric objects.

Constructor & Destructor Documentation

deFrame::deFrame ( )

inline

Default ctor inits to identity.

deFrame::deFrame ( deFloat  tx, deFloat  ty, deFloat  tz  )

inline

Construction from three floats ends up as pure translation.

Member Function Documentation

DE_MATH_API void deFrame::identity

(

)

this = identity matrix

DE_MATH_API void deFrame::inverse

(

const deFrame &

f

)

this = f^-1

this = f^-1 = ~[r,p] = [~r, -(~r*p)]

DE_MATH_API void deFrame::inversedMultiply	(	const deFrame &	f1,
		const deFrame &	f2
	)

this = f1^-1 * f2

DE_MATH_API void deFrame::multiply	(	const deFrame &	f1,
		const deFrame &	f2
	)

this = f1 * f2 = [r1,p1][r2,p2] = [r1*r2, r1*p2 + p1]

Combine two frame transformations: f2 gets rotated and translated by f1. For example, if you know the COM frame of a link relative to its local frame, and you want to know the global COM position given the global position of the local frame, you do:

deFrame com_wrt_link, link_wrt_global;
deFrame com;
com.multiply(link_wrt_global, com_wrt_link);

Note

Do NOT invoke this method on one of the parameters, because the operation is not atomic. If you want to replace a frame by the result of this multiplication, use a temporary object.

// old pseudo-code documentation for this method:
this = f1 * f2 = [r1,p1][r2,p2] = [r1*r2, r1*p2 + p1]

// BAD example: this will produce garbage
deFrame foo, bar;
foo.multiply(foo, bar); // foo gets partially modified half way through the operation

// GOOD example: use a temporary object if you want to replace a frame
deFrame foo, bar;
foo.multiply(deFrame(foo), bar);

DE_MATH_API void deFrame::multiplyInversed	(	const deFrame &	f1,
		const deFrame &	f2
	)

this = f1 * f2^-1

DE_MATH_API void deFrame::operator=

(

const deFrame &

f

)

this = f

deQuaternion& deFrame::rotation ( )

inline

Returns

rotation part

const deQuaternion& deFrame::rotation ( ) const

inline

Returns

rotation part

DE_MATH_API void deFrame::set

(

const deTransform &

t

)

this = t

DE_MATH_API void deFrame::set	(	const deQuaternion &	q,
		const deVector3 &	v
	)

this = [q, v]

deVector3& deFrame::translation ( )

inline

Returns

translation part

const deVector3& deFrame::translation ( ) const

inline

Returns

translation part

---

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

• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeFrame.h
• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeFrameInl.h