InverseTransform Class Reference

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

#include <Transform.h>

List of all members.

Public Member Functions
	InverseTransform ()
	operator Transform () const
InverseTransform &	operator= (const Transform &X)
const Transform &	invert () const
Transform &	updInvert ()
const Transform &	operator~ () const
Transform &	operator~ ()
Transform	compose (const Transform &X_FY) const
Transform	compose (const InverseTransform &X_FY) const
Vec3	xformFrameVecToBase (const Vec3 &vF) const
Vec3	xformBaseVecToFrame (const Vec3 &vB) const
Vec3	shiftFrameStationToBase (const Vec3 &sF) const
Vec3	shiftBaseStationToFrame (const Vec3 &sB) const
const InverseRotation &	R () const
InverseRotation &	updR ()
const InverseRotation::ColType &	x () const
const InverseRotation::ColType &	y () const
const InverseRotation::ColType &	z () const
const Rotation &	RInv () const
Rotation &	updRInv ()
Vec3	p () const
void	setP (const Vec3 &p_BF)
const Vec3 &	pInv () const
void	setPInv (const Vec3 &p)
Mat34	toMat34 () const
	For compatibility with Transform, but we don't provide an "as" method here since the internal storage layout is somewhat odd.
Mat44	toMat44 () const
	Return the equivalent 4x4 transformation matrix.
Vec3	T () const

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Detailed Description

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

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Constructor & Destructor Documentation

InverseTransform

(

)

[inline]

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Member Function Documentation

Transform compose

(

const InverseTransform &

X_FY

)

const [inline]

References InverseTransform::p(), and InverseTransform::R().

Transform compose

(

const Transform &

X_FY

)

const [inline]

References Transform::p(), and Transform::R().

Referenced by SimTK::operator*().

const Transform& invert

(

)

const [inline]

Referenced by InverseTransform::operator~().

operator Transform

(

)

const [inline]

References InverseTransform::p(), and InverseTransform::R().

InverseTransform& operator=

(

const Transform &

X

)

[inline]

References Transform::pInv(), and Transform::RInv().

Transform& operator~

(

)

[inline]

References InverseTransform::updInvert().

const Transform& operator~

(

)

const [inline]

References InverseTransform::invert().

Vec3 p

(

)

const [inline]

Referenced by Transform::compose(), InverseTransform::compose(), InverseTransform::operator Transform(), Transform::operator=(), SimTK::operator==(), and InverseTransform::T().

const Vec3& pInv

(

)

const [inline]

const InverseRotation& R

(

)

const [inline]

Referenced by Transform::compose(), InverseTransform::compose(), InverseTransform::operator Transform(), Transform::operator=(), SimTK::operator==(), InverseTransform::x(), InverseTransform::y(), and InverseTransform::z().

const Rotation& RInv

(

)

const [inline]

void setP

(

const Vec3 &

p_BF

)

[inline]

void setPInv

(

const Vec3 &

p

)

[inline]

Vec3 shiftBaseStationToFrame

(

const Vec3 &

sB

)

const [inline]

Vec3 shiftFrameStationToBase

(

const Vec3 &

sF

)

const [inline]

Referenced by SimTK::operator*().

Vec3 T

(

)

const [inline]

References InverseTransform::p().

Mat34 toMat34

(

)

const [inline]

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

Mat44 toMat44

(

)

const [inline]

Return the equivalent 4x4 transformation matrix.

Transform& updInvert

(

)

[inline]

Referenced by InverseTransform::operator~().

InverseRotation& updR

(

)

[inline]

Rotation& updRInv

(

)

[inline]

const InverseRotation::ColType& x

(

)

const [inline]

References InverseTransform::R(), and InverseRotation::x().

Vec3 xformBaseVecToFrame

(

const Vec3 &

vB

)

const [inline]

Vec3 xformFrameVecToBase

(

const Vec3 &

vF

)

const [inline]

Referenced by SimTK::operator*().

const InverseRotation::ColType& y

(

)

const [inline]

References InverseTransform::R(), and InverseRotation::y().

const InverseRotation::ColType& z

(

)

const [inline]

References InverseTransform::R(), and InverseRotation::z().

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

• Transform.h