InverseTransform_< P > Class Template 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_ ()
	Default constructor produces an identity transform.
	operator Transform_< P > () const
	Implicit conversion from InverseTransform to Transform.
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.
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_.
Mat< 4, 4, P >	toMat44 () const
	Return the equivalent 4x4 transformation matrix.
Vec< 3, P >	T () const

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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 ] 
 

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Constructor & Destructor Documentation

InverseTransform_

(

)

[inline]

Default constructor produces an identity transform.

---

Member Function Documentation

Transform_<P> compose

(

const InverseTransform_< P > &

X_FY

)

const [inline]

References InverseTransform_< P >::p(), and InverseTransform_< P >::R().

Transform_<P> compose

(

const Transform_< P > &

X_FY

)

const [inline]

References Transform_< P >::p(), and Transform_< P >::R().

Referenced by SimTK::operator*().

const Transform_<P>& invert

(

)

const [inline]

Referenced by InverseTransform_< P >::operator~().

operator Transform_< P >

(

)

const [inline]

Implicit conversion from InverseTransform to Transform.

References InverseTransform_< P >::p(), and InverseTransform_< P >::R().

InverseTransform_& operator=

(

const Transform_< P > &

X

)

[inline]

References Transform_< P >::pInv(), and Transform_< P >::RInv().

Transform_<P>& operator~

(

)

[inline]

References InverseTransform_< P >::updInvert().

const Transform_<P>& operator~

(

)

const [inline]

References InverseTransform_< P >::invert().

Vec<3,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.

Referenced by Transform_< P >::compose(), InverseTransform_< P >::compose(), InverseTransform_< P >::operator Transform_< P >(), Transform_< P >::operator=(), SimTK::operator==(), InverseTransform_< P >::T(), and SpatialInertia_< P >::transformInPlace().

const Vec<3,P>& pInv

(

)

const [inline]

const InverseRotation_<P>& R

(

)

const [inline]

Referenced by Transform_< P >::compose(), InverseTransform_< P >::compose(), InverseTransform_< P >::operator Transform_< P >(), Transform_< P >::operator=(), SimTK::operator==(), SpatialInertia_< P >::transformInPlace(), InverseTransform_< P >::x(), InverseTransform_< P >::y(), and InverseTransform_< P >::z().

const Rotation_<P>& RInv

(

)

const [inline]

void setP

(

const Vec< 3, P > &

p_BF

)

[inline]

void setPInv

(

const Vec< 3, P > &

p

)

[inline]

Vec<3,P> shiftBaseStationToFrame

(

const Vec< 3, P > &

sB

)

const [inline]

Vec<3,P> shiftFrameStationToBase

(

const Vec< 3, P > &

sF

)

const [inline]

Referenced by SimTK::operator*().

Vec<3,P> T

(

)

const [inline]

References InverseTransform_< P >::p().

Mat<3,4,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.

Mat<4,4,P> toMat44

(

)

const [inline]

Return the equivalent 4x4 transformation matrix.

Transform_<P>& updInvert

(

)

[inline]

Referenced by InverseTransform_< P >::operator~().

InverseRotation_<P>& updR

(

)

[inline]

Rotation_<P>& updRInv

(

)

[inline]

const InverseRotation_<P>::ColType& x

(

)

const [inline]

References InverseTransform_< P >::R().

Vec<3,P> xformBaseVecToFrame

(

const Vec< 3, P > &

vB

)

const [inline]

Vec<3,P> xformFrameVecToBase

(

const Vec< 3, P > &

vF

)

const [inline]

Referenced by SimTK::operator*().

const InverseRotation_<P>::ColType& y

(

)

const [inline]

References InverseTransform_< P >::R().

const InverseRotation_<P>::ColType& z

(

)

const [inline]

References InverseTransform_< P >::R().

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

• Transform.h