deTransform Class Reference

Transformation class using rotational matrixThis class consists of a matrix for rotation and a vector for translation. More...

#include <TaoDeTransform.h>

Collaboration diagram for deTransform:

Public Member Functions
DE_MATH_API deMatrix3 &	rotation ()
DE_MATH_API const deMatrix3 &	rotation () const
DE_MATH_API deVector3 &	translation ()
DE_MATH_API const deVector3 &	translation () const
DE_MATH_API void	identity ()
	this = identity matrix More...
DE_MATH_API void	operator= (const deTransform &t)
	this = t More...
DE_MATH_API void	multiply (const deTransform &t1, const deTransform &t2)
	this = [r1,p1][r2,p2] = [r1*r2, r1*p2 + p1] More...
DE_MATH_API void	inverse (const deTransform &t)
	this = ~[r,p] = [~r, -(~r*p)] More...
DE_MATH_API void	inversedMultiply (const deTransform &t1, const deTransform &t2)
	this = ~[r1,p1][r2,p2] = [~r1, -(~r1*p1)][r2,p2] = [~r1*r2, ~r1*(p2-p1)] More...
DE_MATH_API void	multiplyInversed (const deTransform &t1, const deTransform &t2)
	this = [r1,p1]~[r2,p2] = [r1,p1][~r2, -(~r2*p2)] = [(r1*~r2), p1-(r1*~r2)*p2] More...
DE_MATH_API void	set (const deFrame &f)
	this = f More...
DE_MATH_API void	set (const deMatrix3 &m, const deVector3 &v)
	this = [m, v] More...
void	set (const deFloat alpha, const deFloat a, const deFloat d, const deFloat theta)
	this = Denavit-Hartenberg parameter More...
void	set (const deVector3 &axis, const deFloat pitch, const deFloat angle)
	this = Screw coordinates More...

Private Attributes
deMatrix3	_m
deVector3	_v

Detailed Description

Transformation class using rotational matrix

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

See Also

deVector3, deMatrix3, deFrame

Member Function Documentation

DE_MATH_API void deTransform::identity

(

)

this = identity matrix

DE_MATH_API void deTransform::inverse

(

const deTransform &

t

)

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

DE_MATH_API void deTransform::inversedMultiply	(	const deTransform &	t1,
		const deTransform &	t2
	)

this = ~[r1,p1][r2,p2] = [~r1, -(~r1*p1)][r2,p2] = [~r1*r2, ~r1*(p2-p1)]

DE_MATH_API void deTransform::multiply	(	const deTransform &	t1,
		const deTransform &	t2
	)

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

DE_MATH_API void deTransform::multiplyInversed	(	const deTransform &	t1,
		const deTransform &	t2
	)

this = [r1,p1]~[r2,p2] = [r1,p1][~r2, -(~r2*p2)] = [(r1*~r2), p1-(r1*~r2)*p2]

DE_MATH_API void deTransform::operator=

(

const deTransform &

t

)

this = t

DE_MATH_API deMatrix3 & deTransform::rotation

(

)

Returns

rotation part

DE_MATH_API const deMatrix3 & deTransform::rotation

(

)

const

Returns

rotation part

DE_MATH_API void deTransform::set

(

const deFrame &

f

)

this = f

DE_MATH_API void deTransform::set	(	const deMatrix3 &	m,
		const deVector3 &	v
	)

this = [m, v]

void deTransform::set	(	const deFloat	alpha,
		const deFloat	a,
		const deFloat	d,
		const deFloat	theta
	)

this = Denavit-Hartenberg parameter

void deTransform::set	(	const deVector3 &	axis,
		const deFloat	pitch,
		const deFloat	angle
	)

this = Screw coordinates

DE_MATH_API deVector3 & deTransform::translation

(

)

Returns

translation part

DE_MATH_API const deVector3 & deTransform::translation

(

)

const

Returns

translation part

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

• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeTransform.h
• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeTransform.cpp
• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeTransformInl.h