Transform.h File Reference

#include "SimTKcommon/SmallMatrix.h"
#include "SimTKcommon/internal/BigMatrix.h"
#include "SimTKcommon/internal/UnitVec.h"
#include "SimTKcommon/internal/Quaternion.h"
#include "SimTKcommon/internal/Rotation.h"
#include <iosfwd>

Go to the source code of this file.

Namespaces
namespace	SimTK
Classes
class	Transform
	This class represents the rotate-and-shift transform which gives the location and orientation of a new frame F in a base (reference) frame B. More...
class	InverseTransform
	Transform from frame B to frame F, but with the internal representation inverted. More...
template<class E>
Vector_< E >	SimTK::operator * (const Transform &T, const VectorBase< E > &v)
	Multiplying a matrix or vector by a Transform applies it to each element individually.
template<class E>
Vector_< E >	SimTK::operator * (const VectorBase< E > &v, const Transform &T)
	Multiplying a matrix or vector by a Transform applies it to each element individually.
template<class E>
RowVector_< E >	SimTK::operator * (const Transform &T, const RowVectorBase< E > &v)
	Multiplying a matrix or vector by a Transform applies it to each element individually.
template<class E>
RowVector_< E >	SimTK::operator * (const RowVectorBase< E > &v, const Transform &T)
	Multiplying a matrix or vector by a Transform applies it to each element individually.
template<class E>
Matrix_< E >	SimTK::operator * (const Transform &T, const MatrixBase< E > &v)
	Multiplying a matrix or vector by a Transform applies it to each element individually.
template<class E>
Matrix_< E >	SimTK::operator * (const MatrixBase< E > &v, const Transform &T)
	Multiplying a matrix or vector by a Transform applies it to each element individually.
template<int N, class E>
Vec< N, E >	SimTK::operator * (const Transform &T, const Vec< N, E > &v)
	Multiplying a matrix or vector by a Transform applies it to each element individually.
template<int N, class E>
Vec< N, E >	SimTK::operator * (const Vec< N, E > &v, const Transform &T)
	Multiplying a matrix or vector by a Transform applies it to each element individually.
template<int N, class E>
Row< N, E >	SimTK::operator * (const Transform &T, const Row< N, E > &v)
	Multiplying a matrix or vector by a Transform applies it to each element individually.
template<int N, class E>
Row< N, E >	SimTK::operator * (const Row< N, E > &v, const Transform &T)
	Multiplying a matrix or vector by a Transform applies it to each element individually.
template<int M, int N, class E>
Mat< M, N, E >	SimTK::operator * (const Transform &T, const Mat< M, N, E > &v)
	Multiplying a matrix or vector by a Transform applies it to each element individually.
template<int M, int N, class E>
Mat< M, N, E >	SimTK::operator * (const Mat< M, N, E > &v, const Transform &T)
	Multiplying a matrix or vector by a Transform applies it to each element individually.
Functions
Vec3	SimTK::operator * (const Transform &X_BF, const Vec3 &s_F)
	If we multiply a transform by a 3-vector, we treat it as though it had a 4th element "1" appended, that is, it is treated as a *station* rather than a *vector*.
Vec3	SimTK::operator * (const InverseTransform &X_BF, const Vec3 &s_F)
Vec4	SimTK::operator * (const Transform &X_BF, const Vec4 &a_F)
	If we multiply a transform by an augmented 4-vector, we use the 4th element to decide how to treat it.
Vec4	SimTK::operator * (const InverseTransform &X_BF, const Vec4 &a_F)
Transform	SimTK::operator * (const Transform &X1, const Transform &X2)
Transform	SimTK::operator * (const Transform &X1, const InverseTransform &X2)
Transform	SimTK::operator * (const InverseTransform &X1, const Transform &X2)
Transform	SimTK::operator * (const InverseTransform &X1, const InverseTransform &X2)
bool	SimTK::operator== (const Transform &X1, const Transform &X2)
bool	SimTK::operator== (const InverseTransform &X1, const InverseTransform &X2)
bool	SimTK::operator== (const Transform &X1, const InverseTransform &X2)
bool	SimTK::operator== (const InverseTransform &X1, const Transform &X2)
std::ostream &	SimTK::operator<< (std::ostream &o, const Transform &)

---