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

Definition at line 459 of file geometry.h.

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

Definition at line 470 of file geometry.h.

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

Definition at line 481 of file geometry.h.

template<typename T>
 RaveVector 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: