SimTK::InverseTransform_< P > Class Template Reference

Transform from frame B to frame F, but with the internal representation inverted. More...

Public Member Functions
	InverseTransform_ ()
	Default constructor produces an identity transform. More...
	operator Transform_< P > () const
	Implicit conversion from InverseTransform_ to Transform_. More...
InverseTransform_ &	operator= (const Transform_< P > &X)
const Transform_< P > &	invert () const
Transform_< P > &	updInvert ()
const Transform_< P > &	operator~ () const
Transform_< P > &	operator~ ()
Transform_< P >	compose (const Transform_< P > &X_FY) const
Transform_< P >	compose (const InverseTransform_< P > &X_FY) const
Vec< 3, P >	xformFrameVecToBase (const Vec< 3, P > &vF) const
Vec< 3, P >	xformBaseVecToFrame (const Vec< 3, P > &vB) const
Vec< 3, P >	shiftFrameStationToBase (const Vec< 3, P > &sF) const
Vec< 3, P >	shiftBaseStationToFrame (const Vec< 3, P > &sB) const
const InverseRotation_< P > &	R () const
InverseRotation_< P > &	updR ()
const InverseRotation_< P > ::ColType &	x () const
const InverseRotation_< P > ::ColType &	y () const
const InverseRotation_< P > ::ColType &	z () const
const Rotation_< P > &	RInv () const
Rotation_< P > &	updRInv ()
Vec< 3, P >	p () const
	Calculate the actual translation vector at a cost of 18 flops. More...
void	setP (const Vec< 3, P > &p_BF)
const Vec< 3, P > &	pInv () const
void	setPInv (const Vec< 3, P > &p)
Mat< 3, 4, P >	toMat34 () const
	For compatibility with Transform_. More...
Mat< 4, 4, P >	toMat44 () const
	Return the equivalent 4x4 transformation matrix. More...
Vec< 3, P >	T () const

Related Functions
(Note that these are not member functions.)
template<class P >
std::ostream &	operator<< (std::ostream &, const InverseTransform_< P > &)
	Generate formatted output of an InverseTransform to an output stream. More...

Detailed Description

template<class P>
class SimTK::InverseTransform_< P >

Transform from frame B to frame F, but with the internal representation inverted.

That is, we store R*,p* here but the transform this represents is

            B F    [       |   ]
     X_BF =  X   = [   R   | p ]   where R=~(R*), p = - ~(R*)(p*).
                   [.......|...]
                   [ 0 0 0   1 ] 

Constructor & Destructor Documentation

template<class P>

SimTK::InverseTransform_< P >::InverseTransform_ ( )

inline

Default constructor produces an identity transform.

Member Function Documentation

template<class P>

SimTK::InverseTransform_< P >::operator Transform_< P > ( ) const

inline

Implicit conversion from InverseTransform_ to Transform_.

template<class P>

InverseTransform_& SimTK::InverseTransform_< P >::operator= ( const Transform_< P > &  X )

inline

template<class P>

const Transform_<P>& SimTK::InverseTransform_< P >::invert ( ) const

inline

template<class P>

Transform_<P>& SimTK::InverseTransform_< P >::updInvert ( )

inline

template<class P>

const Transform_<P>& SimTK::InverseTransform_< P >::operator~ ( ) const

inline

template<class P>

Transform_<P>& SimTK::InverseTransform_< P >::operator~ ( )

inline

template<class P>

Transform_<P> SimTK::InverseTransform_< P >::compose ( const Transform_< P > &  X_FY ) const

inline

template<class P>

Transform_<P> SimTK::InverseTransform_< P >::compose ( const InverseTransform_< P > &  X_FY ) const

inline

template<class P>

Vec<3,P> SimTK::InverseTransform_< P >::xformFrameVecToBase ( const Vec< 3, P > &  vF ) const

inline

template<class P>

Vec<3,P> SimTK::InverseTransform_< P >::xformBaseVecToFrame ( const Vec< 3, P > &  vB ) const

inline

template<class P>

Vec<3,P> SimTK::InverseTransform_< P >::shiftFrameStationToBase ( const Vec< 3, P > &  sF ) const

inline

template<class P>

Vec<3,P> SimTK::InverseTransform_< P >::shiftBaseStationToFrame ( const Vec< 3, P > &  sB ) const

inline

template<class P>

const InverseRotation_<P>& SimTK::InverseTransform_< P >::R ( ) const

inline

template<class P>

InverseRotation_<P>& SimTK::InverseTransform_< P >::updR ( )

inline

template<class P>

const InverseRotation_<P>::ColType& SimTK::InverseTransform_< P >::x ( ) const

inline

template<class P>

const InverseRotation_<P>::ColType& SimTK::InverseTransform_< P >::y ( ) const

inline

template<class P>

const InverseRotation_<P>::ColType& SimTK::InverseTransform_< P >::z ( ) const

inline

template<class P>

const Rotation_<P>& SimTK::InverseTransform_< P >::RInv ( ) const

inline

template<class P>

Rotation_<P>& SimTK::InverseTransform_< P >::updRInv ( )

inline

template<class P>

Vec<3,P> SimTK::InverseTransform_< P >::p ( ) const

inline

Calculate the actual translation vector at a cost of 18 flops.

It is better if you can just work with the InverseTransform directly since then you'll never have to pay this cost.

template<class P>

void SimTK::InverseTransform_< P >::setP ( const Vec< 3, P > &  p_BF )

inline

template<class P>

const Vec<3,P>& SimTK::InverseTransform_< P >::pInv ( ) const

inline

template<class P>

void SimTK::InverseTransform_< P >::setPInv ( const Vec< 3, P > &  p )

inline

template<class P>

Mat<3,4,P> SimTK::InverseTransform_< P >::toMat34 ( ) const

inline

For compatibility with Transform_.

, but we don't provide an "as" method here since the internal storage layout is somewhat odd.

template<class P>

Mat<4,4,P> SimTK::InverseTransform_< P >::toMat44 ( ) const

inline

Return the equivalent 4x4 transformation matrix.

template<class P>

Vec<3,P> SimTK::InverseTransform_< P >::T ( ) const

inline

Friends And Related Function Documentation

template<class P >

std::ostream & operator<< ( std::ostream &  , const InverseTransform_< P > &    )

related

Generate formatted output of an InverseTransform to an output stream.

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

• Transform.h