A rigid body pose. More...

#include <Pose3.h>

Inheritance diagram for POSE3:

Public Member Functions
	POSE3 ()
	Default constructor. More...

	POSE3 (const POSE3 &source)

	POSE3 (const AANGLE &a, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >())
	Constructs a pose from a axis-angle representation (for rotation) and zero translation.

	POSE3 (const MATRIX3 &m, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >())
	Constructs a pose from a rotation matrix and zero translation.

	POSE3 (const QUAT &q, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >())
	Constructs a pose from a unit quaternion (for rotation) and zero translation.

	POSE3 (const AANGLE &a, const ORIGIN3 &v, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >())
	Constructs a pose from a axis-angle representation and a translation vector.

	POSE3 (const MATRIX3 &m, const ORIGIN3 &v, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >())
	Constructs a pose from a rotation matrix and translation vector.

	POSE3 (const QUAT &q, const ORIGIN3 &v, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >())
	Constructs a pose from a unit quaternion and translation vector.

	POSE3 (const ORIGIN3 &v, boost::shared_ptr< const POSE3 > relative_pose=boost::shared_ptr< const POSE3 >())
	Constructs a pose using identity orientation and a translation vector.

VECTOR3	transform_point (const VECTOR3 &p) const

VECTOR3	transform_vector (const VECTOR3 &p) const

VECTOR3	inverse_transform_point (const VECTOR3 &p) const
	Transforms a point from one pose to another.

VECTOR3	inverse_transform_vector (const VECTOR3 &v) const
	Transforms a vector from one pose to another.

SFORCE	transform (const SFORCE &w) const

SFORCE	inverse_transform (const SFORCE &w) const
	Transforms a point from one pose to another.

SMOMENTUM	transform (const SMOMENTUM &t) const

SMOMENTUM	inverse_transform (const SMOMENTUM &t) const
	Transforms a momentum from one pose to another.

SVELOCITY	transform (const SVELOCITY &t) const

SVELOCITY	inverse_transform (const SVELOCITY &t) const
	Transforms a velocity from one pose to another.

SACCEL	transform (const SACCEL &t) const

SACCEL	inverse_transform (const SACCEL &t) const
	Transforms an acceleration from one pose to another.

SPATIAL_RB_INERTIA	transform (const SPATIAL_RB_INERTIA &j) const

SPATIAL_RB_INERTIA	inverse_transform (const SPATIAL_RB_INERTIA &j) const
	Transforms a rigid body inertia from one pose to another.

SPATIAL_AB_INERTIA	transform (const SPATIAL_AB_INERTIA &j) const

SPATIAL_AB_INERTIA	inverse_transform (const SPATIAL_AB_INERTIA &j) const
	Transforms an articulated body inertia from one pose to another.

VECTOR3	qG_mult (REAL qdw, REAL qdx, REAL qdy, REAL qdz) const
	Multiplies the quaternion derivative.

QUAT	qG_transpose_mult (const VECTOR3 &omega) const
	Multiplies the quaternion derivative.

POSE3 &	set_identity ()
	Sets this matrix to identity. More...

POSE3 &	invert ()
	method for inverting a pose in place

POSE3	inverse () const

POSE3 &	set (const AANGLE &a)
	Sets this pose from a axis-angle object only (translation will be zero'd) More...

POSE3 &	set (const MATRIX3 &m)
	Sets this pose from a 3x3 rotation matrix only (translation will be zero'd) More...

POSE3 &	set (const QUAT &q)
	Sets this pose from a unit quaternion only (translation will be zero'd) More...

POSE3 &	set (const AANGLE &a, const ORIGIN3 &v)

POSE3 &	set (const MATRIX3 &m, const ORIGIN3 &v)
	Sets the pose from a rotation matrix and translation vector. More...

POSE3 &	set (const QUAT &q, const ORIGIN3 &v)
	Sets the pose from a unit quaternion and translation vector. More...

POSE3	operator+ (const SVELOCITY &v) const
	Adds a velocity to a pose to yield a new pose.

POSE3 &	operator= (const POSE3 &source)

POSE3	operator* (const POSE3 &m) const
	Multiplies this pose by another.

POSE3 &	update_relative_pose (boost::shared_ptr< const POSE3 > pose)
	Updates the relative pose for this pose while retaining the same absolute pose.

Static Public Member Functions
static POSE3	identity ()

static VECTOR3	interpolate_vector (const POSE3 &m1, const POSE3 &m2, REAL t, const ORIGIN3 &o)

static VECTOR3	interpolate_point (const POSE3 &m1, const POSE3 &m2, REAL t, const ORIGIN3 &o)

static bool	rel_equal (const POSE3 &p1, const POSE3 &p2, REAL tol=EPS)
	Determines whether two poses in 3D are relatively equivalent.

static VECTOR3	transform_point (boost::shared_ptr< const POSE3 > target, const VECTOR3 &v)
	Transforms a point from one pose to another.

static VECTOR3	transform_vector (boost::shared_ptr< const POSE3 > target, const VECTOR3 &v)
	Applies this pose to a vector.

static SFORCE	transform (boost::shared_ptr< const POSE3 > target, const SFORCE &w)
	Transforms the force.

static std::vector< SFORCE > &	transform (boost::shared_ptr< const POSE3 > target, const std::vector< SFORCE > &w, std::vector< SFORCE > &result)
	Transforms a vector of forcees.

static SMOMENTUM	transform (boost::shared_ptr< const POSE3 > target, const SMOMENTUM &t)
	Transforms the momentum.

static SVELOCITY	transform (boost::shared_ptr< const POSE3 > target, const SVELOCITY &t)
	Transforms the velocity.

static std::vector< SVELOCITY > &	transform (boost::shared_ptr< const POSE3 > target, const std::vector< SVELOCITY > &t, std::vector< SVELOCITY > &result)
	Transforms a vector of velocities.

static std::vector< SMOMENTUM > &	transform (boost::shared_ptr< const POSE3 > target, const std::vector< SMOMENTUM > &t, std::vector< SMOMENTUM > &result)
	Transforms a vector of momenta.

static SACCEL	transform (boost::shared_ptr< const POSE3 > target, const SACCEL &t)
	Transforms the acceleration.

static std::vector< SACCEL > &	transform (boost::shared_ptr< const POSE3 > target, const std::vector< SACCEL > &t, std::vector< SACCEL > &result)
	Transforms a vector of accelerations.

static SPATIAL_RB_INERTIA	transform (boost::shared_ptr< const POSE3 > target, const SPATIAL_RB_INERTIA &j)
	Transforms a spatial RB inertia to the given pose.

static SPATIAL_AB_INERTIA	transform (boost::shared_ptr< const POSE3 > target, const SPATIAL_AB_INERTIA &j)
	Transforms a spatial articulated body inertia.

static TRANSFORM3	calc_relative_pose (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target)

static POSE3	invert (const POSE3 &m)
	Special method for inverting a pose.

static VECTOR3	interpolate_transform_vector (const POSE3 &P1, const POSE3 &P2, REAL t, const ORIGIN3 &o)
	Tranforms a vector with an interpolated pose (between poses P1 and P2) More...

static VECTOR3	interpolate_transform_point (const POSE3 &P1, const POSE3 &P2, REAL t, const ORIGIN3 &o)
	Tranforms a point with an interpolated pose (between poses P1 and P2) More...

static SVELOCITY	diff (const POSE3 &P1, const POSE3 &P2)
	Computes the spatial velocity that gets from one pose (P1) to another (P2)

template<class M >
static M &	spatial_transform_to_matrix (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target, M &m)
	Computes a 6x6 matrix that transforms velocity vectors in [w; v] format or force vectors in [f; tau] format.

template<class M >
static M &	spatial_transform_to_matrix2 (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target, M &m)
	Computes a 6x6 matrix that transforms velocity vectors in [v w] format.

template<class M >
static M &	dot_spatial_transform_to_matrix2 (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target, M &m)
	Computes the time derivative of a 6x6 matrix that transforms velocity vectors in [v w] format.

Public Attributes
QUAT	q
	the orientation of the pose frame

ORIGIN3	x
	the origin of the pose frame

boost::shared_ptr< const POSE3 >	rpose
	the pose that this pose is relative to (if any)

Friends
class	MOVINGTRANSFORM3

Detailed Description

A rigid body pose.

Constructor & Destructor Documentation

POSE3::POSE3 ( )

Default constructor.

Sets matrix to the identity matrix

References set_identity().

Referenced by invert(), and operator*().

Member Function Documentation

VECTOR3 POSE3::interpolate_transform_point	(	const POSE3 &	P1,
		const POSE3 &	P2,
		REAL	t,
		const ORIGIN3 &	o
	)

static

Tranforms a point with an interpolated pose (between poses P1 and P2)

Parameters

P1	the pose to use when t=0
P2	the pose to use when t=1
t	interpolation value
o	the point to transform

Returns: the transformed point

References q, rpose, QUAT::slerp(), and x.

VECTOR3 POSE3::interpolate_transform_vector	(	const POSE3 &	P1,
		const POSE3 &	P2,
		REAL	t,
		const ORIGIN3 &	o
	)

static

Tranforms a vector with an interpolated pose (between poses P1 and P2)

Parameters

P1	the pose to use when t=0
P2	the pose to use when t=1
t	interpolation value
o	the vector to transform

Returns: the transformed vector

References q, rpose, and QUAT::slerp().

POSE3 & POSE3::set ( const AANGLE & a )

Sets this pose from a axis-angle object only (translation will be zero'd)

Note: relative pose will be unaltered

References q, and x.

Referenced by POSE3().

POSE3 & POSE3::set ( const MATRIX3 & m )

Sets this pose from a 3x3 rotation matrix only (translation will be zero'd)

Note: relative pose will be unaltered

References q, and x.

POSE3 & POSE3::set ( const QUAT & q )

Sets this pose from a unit quaternion only (translation will be zero'd)

Note: relative pose will be unaltered

References q, and x.

POSE3 & POSE3::set	(	const AANGLE &	a,
		const ORIGIN3 &	v
	)

Note: relative pose will be unaltered

References q, and x.

POSE3 & POSE3::set	(	const MATRIX3 &	m,
		const ORIGIN3 &	v
	)

Sets the pose from a rotation matrix and translation vector.

Note: relative pose will be unaltered

References q, and x.

POSE3 & POSE3::set	(	const QUAT &	q,
		const ORIGIN3 &	v
	)

Sets the pose from a unit quaternion and translation vector.

Note: relative pose will be unaltered

References q, and x.

POSE3 & POSE3::set_identity ( )

Sets this matrix to identity.

Note: relative pose will be unaltered

References q, and x.

Referenced by POSE3().

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

/home/drum/Ravelin.new/include/Ravelin/Pose3.h
/home/drum/Ravelin.new/src/Pose3.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation