OpenSim::SIMMTransform Class Reference

Class SIMMTransform is intended to represent transformations for rd platform. More...

#include <SIMMTransform.h>

List of all members.

Public Types
enum	AxisName {   X = 0, Y = 1, Z = 2, W = 3,   NoAxis = -1 }
enum	RotationOrder {   XYZ = 0, XZY = 1, YXZ = 2, YZX = 3,   ZXY = 4, ZYX = 5 }
enum	AnglePreference { Radians, Degrees }
Public Member Functions
	SIMMTransform ()
	Construct an identity SIMMTransform.
	SIMMTransform (const SIMMTransform &aTransform)
	Copy constructor.
	SIMMTransform (const double aMat44[4][4])
	SIMMTransform (const double r, const AnglePreference preference, const SimTK::Vec3 &axis)
virtual	~SIMMTransform ()
	Destructor.
SIMMTransform *	copy () const
	Copy method to be used by ArrayPtrs if needed.
SIMMTransform &	operator= (const SIMMTransform &aTransform)
void	printMatrix ()
	Debugging.
void	getPosition (SimTK::Vec3 &pos) const
	Get the position vector.
void	getPosition (double pos[3]) const
void	setPosition (const SimTK::Vec3 &pos)
	Set the position vector.
void	getOrientation (double rOrientation[3][3]) const
	Get 3x3 orientation matrix from a 4x4 transform matrix.
void	setOrientation (const double aOrientation[3][3])
void	setIdentity ()
	Set transform matrix to identity.
void	rotate (const double r[3], const AnglePreference preference, const RotationOrder order)
	Set transform matrix based on angles, rotation order and preference.
void	rotateX (double r, const AnglePreference preference)
	Rotate by r degrees or radians around X axis.
void	rotateY (double r, const AnglePreference preference)
	Rotate by r degrees or radians around Y axis.
void	rotateZ (double r, const AnglePreference preference)
	Rotate by r degrees or radians around Z axis.
void	rotateAxis (double r, const AnglePreference preference, const SimTK::Vec3 &axis)
	Rotate by r degrees or radians around arbitrary axis.
void	rotateXBodyFixed (double r, const AnglePreference preference)
	Rotate by r degrees or radians around the local X axis.
void	rotateYBodyFixed (double r, const AnglePreference preference)
	Rotate by r degrees or radians around the local Y axis.
void	rotateZBodyFixed (double r, const AnglePreference preference)
	Rotate by r degrees or radians around the local Z axis.
void	translateX (const double t)
	Translate by double in X direction.
void	translateY (const double t)
	Translate by double in Y direction.
void	translateZ (const double t)
	Translate by double in Z direction.
void	translate (const SimTK::Vec3 &t)
	Translate by vector t.
void	transformPoint (double pt[3]) const
void	transformPoint (SimTK::Vec3 &pt) const
void	transformVector (double vec[3]) const
void	transformVector (SimTK::Vec3 &vec) const
double *	getMatrix ()
void	getMatrix (double aMat[]) const
void	setRotationSubmatrix (double rDirCos[3][3])
const SimTK::Transform *	getSimTKTransform () const

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Detailed Description

Class SIMMTransform is intended to represent transformations for rd platform.

Authors:

Ayman Habib, Peter Loan

Version:

1.0

Removed inheritance from Object since none of this is used and transforms are created a ton of times during display and simulation

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Constructor & Destructor Documentation

SIMMTransform::SIMMTransform

(

const SIMMTransform &

aTransform

)

Copy constructor.

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Member Function Documentation

void SIMMTransform::getOrientation

(

double

rOrientation[3][3]

)

const

Get 3x3 orientation matrix from a 4x4 transform matrix.

void SIMMTransform::setIdentity

(

)

Set transform matrix to identity.

void SIMMTransform::rotate	(	const double	r[3],
		const AnglePreference	preference,
		const RotationOrder	order
	)

Set transform matrix based on angles, rotation order and preference.

void SIMMTransform::rotateX	(	double	r,
		const AnglePreference	preference
	)

Rotate by r degrees or radians around X axis.

void SIMMTransform::rotateY	(	double	r,
		const AnglePreference	preference
	)

Rotate by r degrees or radians around Y axis.

void SIMMTransform::rotateZ	(	double	r,
		const AnglePreference	preference
	)

Rotate by r degrees or radians around Z axis.

void SIMMTransform::rotateAxis	(	double	r,
		const AnglePreference	preference,
		const SimTK::Vec3 &	axis
	)

Rotate by r degrees or radians around arbitrary axis.

The axis must be of unit length.

void SIMMTransform::rotateXBodyFixed	(	double	r,
		const AnglePreference	preference
	)

Rotate by r degrees or radians around the local X axis.

void SIMMTransform::rotateYBodyFixed	(	double	r,
		const AnglePreference	preference
	)

Rotate by r degrees or radians around the local Y axis.

void SIMMTransform::rotateZBodyFixed	(	double	r,
		const AnglePreference	preference
	)

Rotate by r degrees or radians around the local Z axis.

void SIMMTransform::translateX

(

const double

tX

)

Translate by double in X direction.

void SIMMTransform::translateY

(

const double

tY

)

Translate by double in Y direction.

void SIMMTransform::translateZ

(

const double

tZ

)

Translate by double in Z direction.

void SIMMTransform::translate

(

const SimTK::Vec3 &

t

)

Translate by vector t.

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

• SIMMTransform.h
• SIMMTransform.cpp