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Ravelin
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A transformation between two rigid body poses. More...
#include <Transform3d.h>
Public Member Functions | |
| TRANSFORM3 (const TRANSFORM3 &source) | |
| TRANSFORM3 (const AANGLE &a) | |
| TRANSFORM3 (const MATRIX3 &m) | |
| TRANSFORM3 (const QUAT &q) | |
| TRANSFORM3 (const AANGLE &a, const ORIGIN3 &v) | |
| TRANSFORM3 (const MATRIX3 &m, const ORIGIN3 &v) | |
| TRANSFORM3 (const QUAT &q, const ORIGIN3 &v) | |
| TRANSFORM3 (const ORIGIN3 &v) | |
| bool | is_identity () const |
| POSE3 | transform (const POSE3 &p) const |
| POSE3 | inverse_transform (const POSE3 &p) const |
| VECTOR3 | transform_point (const VECTOR3 &p) const |
| VECTOR3 | transform_vector (const VECTOR3 &v) const |
| VECTOR3 | inverse_transform_point (const VECTOR3 &p) const |
| VECTOR3 | inverse_transform_vector (const VECTOR3 &v) const |
| SFORCE | transform (const SFORCE &w) const |
| SFORCE | inverse_transform (const SFORCE &w) const |
| SMOMENTUM | transform (const SMOMENTUM &t) const |
| SMOMENTUM | inverse_transform (const SMOMENTUM &t) const |
| SVELOCITY | transform (const SVELOCITY &t) const |
| SVELOCITY | inverse_transform (const SVELOCITY &t) const |
| SACCEL | transform (const SACCEL &t) const |
| SACCEL | inverse_transform (const SACCEL &t) const |
| SPATIAL_RB_INERTIA | transform (const SPATIAL_RB_INERTIA &j) const |
| SPATIAL_RB_INERTIA | inverse_transform (const SPATIAL_RB_INERTIA &j) const |
| SPATIAL_AB_INERTIA | transform (const SPATIAL_AB_INERTIA &j) const |
| SPATIAL_AB_INERTIA | inverse_transform (const SPATIAL_AB_INERTIA &j) const |
| TRANSFORM3 & | set_identity () |
| TRANSFORM3 & | invert () |
| TRANSFORM3 | inverse () const |
| TRANSFORM3 & | set (const AANGLE &a) |
| TRANSFORM3 & | set (const MATRIX3 &m) |
| TRANSFORM3 & | set (const QUAT &q) |
| TRANSFORM3 & | set (const AANGLE &a, const ORIGIN3 &v) |
| TRANSFORM3 & | set (const MATRIX3 &m, const ORIGIN3 &v) |
| TRANSFORM3 & | set (const QUAT &q, const ORIGIN3 &v) |
| TRANSFORM3 & | operator= (const TRANSFORM3 &source) |
| TRANSFORM3 | operator* (const TRANSFORM3 &m) const |
| POSE3 | apply_transform () const |
| POSE3 | apply_inverse_transform () const |
| TRANSFORM3 (const TRANSFORM3 &source) | |
| TRANSFORM3 (const AANGLE &a) | |
| TRANSFORM3 (const MATRIX3 &m) | |
| TRANSFORM3 (const QUAT &q) | |
| TRANSFORM3 (const AANGLE &a, const ORIGIN3 &v) | |
| TRANSFORM3 (const MATRIX3 &m, const ORIGIN3 &v) | |
| TRANSFORM3 (const QUAT &q, const ORIGIN3 &v) | |
| TRANSFORM3 (const ORIGIN3 &v) | |
| bool | is_identity () const |
| POSE3 | transform (const POSE3 &p) const |
| POSE3 | inverse_transform (const POSE3 &p) const |
| VECTOR3 | transform_point (const VECTOR3 &p) const |
| VECTOR3 | transform_vector (const VECTOR3 &v) const |
| VECTOR3 | inverse_transform_point (const VECTOR3 &p) const |
| VECTOR3 | inverse_transform_vector (const VECTOR3 &v) const |
| SFORCE | transform (const SFORCE &w) const |
| SFORCE | inverse_transform (const SFORCE &w) const |
| SMOMENTUM | transform (const SMOMENTUM &t) const |
| SMOMENTUM | inverse_transform (const SMOMENTUM &t) const |
| SVELOCITY | transform (const SVELOCITY &t) const |
| SVELOCITY | inverse_transform (const SVELOCITY &t) const |
| SACCEL | transform (const SACCEL &t) const |
| SACCEL | inverse_transform (const SACCEL &t) const |
| SPATIAL_RB_INERTIA | transform (const SPATIAL_RB_INERTIA &j) const |
| SPATIAL_RB_INERTIA | inverse_transform (const SPATIAL_RB_INERTIA &j) const |
| SPATIAL_AB_INERTIA | transform (const SPATIAL_AB_INERTIA &j) const |
| SPATIAL_AB_INERTIA | inverse_transform (const SPATIAL_AB_INERTIA &j) const |
| TRANSFORM3 & | set_identity () |
| TRANSFORM3 & | invert () |
| TRANSFORM3 | inverse () const |
| TRANSFORM3 & | set (const AANGLE &a) |
| TRANSFORM3 & | set (const MATRIX3 &m) |
| TRANSFORM3 & | set (const QUAT &q) |
| TRANSFORM3 & | set (const AANGLE &a, const ORIGIN3 &v) |
| TRANSFORM3 & | set (const MATRIX3 &m, const ORIGIN3 &v) |
| TRANSFORM3 & | set (const QUAT &q, const ORIGIN3 &v) |
| TRANSFORM3 & | operator= (const TRANSFORM3 &source) |
| TRANSFORM3 | operator* (const TRANSFORM3 &m) const |
| POSE3 | apply_transform () const |
| POSE3 | apply_inverse_transform () const |
Static Public Member Functions | |
| static ORIGIN3 | interpolate_transform_vector (const TRANSFORM3 &T1, const TRANSFORM3 &T2, REAL t, const ORIGIN3 &o) |
| static ORIGIN3 | interpolate_transform_point (const TRANSFORM3 &T1, const TRANSFORM3 &T2, REAL t, const ORIGIN3 &o) |
| static ORIGIN3 | interpolate_inverse_transform_vector (const TRANSFORM3 &T1, const TRANSFORM3 &T2, REAL t, const ORIGIN3 &o) |
| static ORIGIN3 | interpolate_inverse_transform_point (const TRANSFORM3 &T1, const TRANSFORM3 &T2, REAL t, const ORIGIN3 &o) |
| static TRANSFORM3 | identity () |
| static bool | rel_equal (const TRANSFORM3 &p1, const TRANSFORM3 &p2, REAL tol=EPS) |
| static TRANSFORM3 | invert (const TRANSFORM3 &m) |
| static ORIGIN3 | interpolate_transform_vector (const TRANSFORM3 &T1, const TRANSFORM3 &T2, REAL t, const ORIGIN3 &o) |
| static ORIGIN3 | interpolate_transform_point (const TRANSFORM3 &T1, const TRANSFORM3 &T2, REAL t, const ORIGIN3 &o) |
| static ORIGIN3 | interpolate_inverse_transform_vector (const TRANSFORM3 &T1, const TRANSFORM3 &T2, REAL t, const ORIGIN3 &o) |
| static ORIGIN3 | interpolate_inverse_transform_point (const TRANSFORM3 &T1, const TRANSFORM3 &T2, REAL t, const ORIGIN3 &o) |
| static TRANSFORM3 | identity () |
| static bool | rel_equal (const TRANSFORM3 &p1, const TRANSFORM3 &p2, REAL tol=EPS) |
| static TRANSFORM3 | invert (const TRANSFORM3 &m) |
Public Attributes | |
| QUAT | q |
| the relative orientation | |
| ORIGIN3 | x |
| the relative origin | |
| boost::shared_ptr< const POSE3 > | source |
| the "source" pose | |
| boost::shared_ptr< const POSE3 > | target |
| the "target" pose | |
A transformation between two rigid body poses.
1.8.6