A transformation between two rigid body poses. More...

#include <Transform3.h>

Public Member Functions
	TRANSFORM3 ()
	Default constructor. More...

	TRANSFORM3 (const TRANSFORM3 &source)

	TRANSFORM3 (const AANGLE &a)
	Constructs a transformation from a axis-angle representation (for rotation) and zero translation.

	TRANSFORM3 (const MATRIX3 &m)
	Constructs a transformation from a rotation matrix and zero translation.

	TRANSFORM3 (const QUAT &q)
	Constructs a transformation from a unit quaternion (for rotation) and zero translation.

	TRANSFORM3 (const AANGLE &a, const ORIGIN3 &v)
	Constructs a transformation from a axis-angle representation and a translation vector.

	TRANSFORM3 (const MATRIX3 &m, const ORIGIN3 &v)
	Constructs a transformation from a rotation matrix and translation vector.

	TRANSFORM3 (const QUAT &q, const ORIGIN3 &v)
	Constructs a transformation from a unit quaternion and translation vector.

	TRANSFORM3 (const ORIGIN3 &v)
	Constructs a transformation using identity orientation and a translation vector.

bool	is_identity () const
	Determines whether the transform is identity.

POSE3	transform (const POSE3 &p) const
	Transforms a pose.

POSE3	inverse_transform (const POSE3 &p) const
	Transforms a pose.

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

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

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
	Transforms a force from one pose to another.

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

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

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

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

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

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

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
	Transforms a rigid body inertia from one pose to another. More...

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
	Transforms an articulated body inertia from one pose to another.

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

TRANSFORM3 &	set_identity ()
	Sets this matrix to identity.

TRANSFORM3 &	invert ()
	Special method for inverting a transformation in place.

TRANSFORM3	inverse () const

TRANSFORM3 &	set (const AANGLE &a)
	Sets this transformation from a axis-angle object only (translation will be zero'd)

TRANSFORM3 &	set (const MATRIX3 &m)
	Sets this transformation from a 3x3 rotation matrix only (translation will be zero'd)

TRANSFORM3 &	set (const QUAT &q)
	Sets this transformation from a unit quaternion only (translation will be zero'd)

TRANSFORM3 &	set (const AANGLE &a, const ORIGIN3 &v)

TRANSFORM3 &	set (const MATRIX3 &m, const ORIGIN3 &v)
	Sets the transformation from a rotation matrix and translation vector. More...

TRANSFORM3 &	set (const QUAT &q, const ORIGIN3 &v)
	Sets the transformation from a unit quaternion and translation vector.

TRANSFORM3 &	operator= (const TRANSFORM3 &source)

TRANSFORM3	operator* (const TRANSFORM3 &m) const
	Multiplies this transformation by another. More...

POSE3	apply_transform () const
	Applies a transform to a pose. More...

POSE3	apply_inverse_transform () const
	Applies the inverse transform to a pose. More...

Static Public Member Functions
static ORIGIN3	interpolate_transform_vector (const TRANSFORM3 &T1, const TRANSFORM3 &T2, REAL t, const ORIGIN3 &o)
	Tranforms a vector with an interpolated transform (between transforms T1 and T2) More...

static ORIGIN3	interpolate_transform_point (const TRANSFORM3 &T1, const TRANSFORM3 &T2, REAL t, const ORIGIN3 &o)
	Tranforms a point with an interpolated pose (between poses T1 and T2) More...

static ORIGIN3	interpolate_inverse_transform_vector (const TRANSFORM3 &T1, const TRANSFORM3 &T2, REAL t, const ORIGIN3 &o)
	Tranforms a vector with the inverse of an interpolated transform (between transforms T1 and T2) More...

static ORIGIN3	interpolate_inverse_transform_point (const TRANSFORM3 &T1, const TRANSFORM3 &T2, REAL t, const ORIGIN3 &o)
	Tranforms a point with the inverse of an interpolated pose (between poses T1 and T2) More...

static TRANSFORM3	identity ()

static bool	rel_equal (const TRANSFORM3 &p1, const TRANSFORM3 &p2, REAL tol=EPS)
	Determines whether two transformations in 3D are relatively equivalent.

static TRANSFORM3	invert (const TRANSFORM3 &m)
	Special method for inverting a transformation.

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

Detailed Description

A transformation between two rigid body poses.

Constructor & Destructor Documentation

TRANSFORM3::TRANSFORM3 ( )

Default constructor.

Sets matrix to the identity matrix

References set_identity().

Referenced by invert().

Member Function Documentation

POSE3 TRANSFORM3::apply_inverse_transform ( ) const

Applies the inverse transform to a pose.

This transforms from the source pose to the target pose. If the target pose changes to become P, we can apply this transform to P to get the new source pose.

References q, POSE3::q, POSE3::rpose, source, target, x, and POSE3::x.

POSE3 TRANSFORM3::apply_transform ( ) const

Applies a transform to a pose.

This transforms from the source pose to the target pose. If the source pose changes to become P, we can apply this transform to P to get the new target pose.

References q, POSE3::q, POSE3::rpose, source, target, x, and POSE3::x.

ORIGIN3 TRANSFORM3::interpolate_inverse_transform_point	(	const TRANSFORM3 &	T1,
		const TRANSFORM3 &	T2,
		REAL	t,
		const ORIGIN3 &	o
	)

static

Tranforms a point with the inverse of an interpolated pose (between poses T1 and T2)

Parameters

T1	the pose to use when t=0
T2	the pose to use when t=1
t	interpolation value
o	the point to transform

Returns: the transformed point

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

ORIGIN3 TRANSFORM3::interpolate_inverse_transform_vector	(	const TRANSFORM3 &	T1,
		const TRANSFORM3 &	T2,
		REAL	t,
		const ORIGIN3 &	o
	)

static

Tranforms a vector with the inverse of an interpolated transform (between transforms T1 and T2)

Parameters

T1	the pose to use when t=0
T2	the pose to use when t=1
t	interpolation value
o	the vector to transform

Returns: the transformed vector

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

ORIGIN3 TRANSFORM3::interpolate_transform_point	(	const TRANSFORM3 &	T1,
		const TRANSFORM3 &	T2,
		REAL	t,
		const ORIGIN3 &	o
	)

static

Tranforms a point with an interpolated pose (between poses T1 and T2)

Parameters

T1	the pose to use when t=0
T2	the pose to use when t=1
t	interpolation value
o	the point to transform

Returns: the transformed point

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

ORIGIN3 TRANSFORM3::interpolate_transform_vector	(	const TRANSFORM3 &	T1,
		const TRANSFORM3 &	T2,
		REAL	t,
		const ORIGIN3 &	o
	)

static

Tranforms a vector with an interpolated transform (between transforms T1 and T2)

Parameters

T1	the pose to use when t=0
T2	the pose to use when t=1
t	interpolation value
o	the vector to transform

Returns: the transformed vector

References q, and QUAT::slerp().

TRANSFORM3 TRANSFORM3::operator* ( const TRANSFORM3 & T ) const

Multiplies this transformation by another.

If this transforms from frame b to frame c and T transforms from frame a to frame b, the multiplication transforms from from a to frame c.

References q, source, target, and x.

TRANSFORM3 & TRANSFORM3::set	(	const AANGLE &	a,
		const ORIGIN3 &	v
	)

Todo:: make this marginally faster by setting the matrix components directly (eliminates redundancy in setting non-rotation and non-translational components)

References q, and x.

TRANSFORM3 & TRANSFORM3::set	(	const MATRIX3 &	m,
		const ORIGIN3 &	v
	)

Sets the transformation from a rotation matrix and translation vector.

Todo:: make this marginally faster by setting the matrix components directly (eliminates redundancy in setting non-rotation and non-translational components)

References q, and x.

SPATIAL_RB_INERTIA TRANSFORM3::transform ( const SPATIAL_RB_INERTIA & J ) const

Transforms a rigid body inertia from one pose to another.

The operations for this come from: | E 0 | * | -m*hx eye(3)*m | * | E' 0 | | -E*rx E | | J - m*hx*hx m*hx | | rx*E' E' | which yields: | A m | | B A' | where: A = -m*E*hx*E' + m*E*rx*E' B = m*E*rx*hx*E' + E*J*E' - m*E*hx*hx*E' - m*E*rx*rx*E' + m*E*hx*rx*E'

References SPATIAL_RB_INERTIA::h, SPATIAL_RB_INERTIA::J, SPATIAL_RB_INERTIA::m, SPATIAL_RB_INERTIA::pose, q, source, target, MATRIX3::transpose(), MATRIX3::transpose_mult(), and x.

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

/home/drum/Ravelin.new/include/Ravelin/Transform3.h
/home/drum/Ravelin.new/src/Transform3.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation