openrave.org

 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
Public Member Functions | Public Attributes | Friends | List of all members
OpenRAVE::geometry::RaveTransform< T > Class Template Reference

Affine transformation parameterized with quaterions. More...

#include <geometry.h>

Public Member Functions

 RaveTransform ()
 
template<typename U >
 RaveTransform (const RaveTransform< U > &t)
 
template<typename U >
 RaveTransform (const RaveVector< U > &rot, const RaveVector< U > &trans)
 
 RaveTransform (const RaveTransformMatrix< T > &t)
 
void identity ()
 
RaveVector< T > operator* (const RaveVector< T > &r) const
 transform a 3 dim vector
 
RaveVector< T > rotate (const RaveVector< T > &r) const
 transform a vector by the rotation component only
 
RaveTransform< T > rotate (const RaveTransform< T > &r) const
 transform a transform by the rotation component only
 
RaveTransform< T > operator* (const RaveTransform< T > &r) const
 t = this * r
 
RaveTransform< T > & operator*= (const RaveTransform< T > &right)
 
RaveTransform< T > inverse () const
 
template<typename U >
RaveTransform< T > & operator= (const RaveTransform< U > &r)
 

Public Attributes

RaveVector< T > rot
 
RaveVector< T > trans
 rot is a quaternion=(cos(ang/2),axisx*sin(ang/2),axisy*sin(ang/2),axisz*sin(ang/2))
 

Friends

template<typename U >
std::ostream & operator<< (std::ostream &O, const RaveTransform< U > &v)
 
template<typename U >
std::istream & operator>> (std::istream &I, RaveTransform< U > &v)
 

Detailed Description

template<typename T>
class OpenRAVE::geometry::RaveTransform< T >

Affine transformation parameterized with quaterions.

Definition at line 377 of file geometry.h.

Constructor & Destructor Documentation

template<typename T>
OpenRAVE::geometry::RaveTransform< T >::RaveTransform ( )
inline

Definition at line 380 of file geometry.h.

template<typename T>
template<typename U >
OpenRAVE::geometry::RaveTransform< T >::RaveTransform ( const RaveTransform< U > &  t)
inline

Definition at line 383 of file geometry.h.

template<typename T>
template<typename U >
OpenRAVE::geometry::RaveTransform< T >::RaveTransform ( const RaveVector< U > &  rot,
const RaveVector< U > &  trans 
)
inline

Definition at line 389 of file geometry.h.

template<typename T >
RaveTransform< T >::RaveTransform ( const RaveTransformMatrix< T > &  t)
inline

Definition at line 1136 of file geometry.h.

Member Function Documentation

template<typename T>
void OpenRAVE::geometry::RaveTransform< T >::identity ( )
inline

Definition at line 395 of file geometry.h.

template<typename T>
RaveTransform<T> OpenRAVE::geometry::RaveTransform< T >::inverse ( ) const
inline

Definition at line 459 of file geometry.h.

template<typename T>
RaveVector<T> OpenRAVE::geometry::RaveTransform< T >::operator* ( const RaveVector< T > &  r) const
inline

transform a 3 dim vector

Definition at line 401 of file geometry.h.

template<typename T>
RaveTransform<T> OpenRAVE::geometry::RaveTransform< T >::operator* ( const RaveTransform< T > &  r) const
inline

t = this * r

Definition at line 440 of file geometry.h.

template<typename T>
RaveTransform<T>& OpenRAVE::geometry::RaveTransform< T >::operator*= ( const RaveTransform< T > &  right)
inline

Definition at line 454 of file geometry.h.

template<typename T>
template<typename U >
RaveTransform<T>& OpenRAVE::geometry::RaveTransform< T >::operator= ( const RaveTransform< U > &  r)
inline

Definition at line 470 of file geometry.h.

template<typename T>
RaveVector<T> OpenRAVE::geometry::RaveTransform< T >::rotate ( const RaveVector< T > &  r) const
inline

transform a vector by the rotation component only

Definition at line 406 of file geometry.h.

template<typename T>
RaveTransform<T> OpenRAVE::geometry::RaveTransform< T >::rotate ( const RaveTransform< T > &  r) const
inline

transform a transform by the rotation component only

Definition at line 425 of file geometry.h.

Friends And Related Function Documentation

template<typename T>
template<typename U >
std::ostream& operator<< ( std::ostream &  O,
const RaveTransform< U > &  v 
)
friend

Definition at line 762 of file geometry.h.

template<typename T>
template<typename U >
std::istream& operator>> ( std::istream &  I,
RaveTransform< U > &  v 
)
friend

Definition at line 768 of file geometry.h.

Member Data Documentation

template<typename T>
RaveVector<T> OpenRAVE::geometry::RaveTransform< T >::rot

Definition at line 481 of file geometry.h.

template<typename T>
RaveVector<T> OpenRAVE::geometry::RaveTransform< T >::trans

rot is a quaternion=(cos(ang/2),axisx*sin(ang/2),axisy*sin(ang/2),axisz*sin(ang/2))

Definition at line 481 of file geometry.h.


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