deTransform Class Reference
[Matrix]

Transformation class using rotational matrix

This class consists of a matrix for rotation and a vector for translation. More...

#include <deTransform.h>

Collaboration diagram for deTransform:

Collaboration graph
[legend]
List of all members.

Public Member Functions

DE_MATH_API deMatrix3 & rotation ()
DE_MATH_API const deMatrix3 & rotation () const
DE_MATH_API deVector3 & translation ()
DE_MATH_API const deVector3 & translation () const
DE_MATH_API void identity ()
 this = identity matrix
DE_MATH_API void operator= (const deTransform &t)
 this = t
DE_MATH_API void multiply (const deTransform &t1, const deTransform &t2)
 this = [r1,p1][r2,p2] = [r1*r2, r1*p2 + p1]
DE_MATH_API void inverse (const deTransform &t)
 this = ~[r,p] = [~r, -(~r*p)]
DE_MATH_API void inversedMultiply (const deTransform &t1, const deTransform &t2)
 this = ~[r1,p1][r2,p2] = [~r1, -(~r1*p1)][r2,p2] = [~r1*r2, ~r1*(p2-p1)]
DE_MATH_API void multiplyInversed (const deTransform &t1, const deTransform &t2)
 this = [r1,p1]~[r2,p2] = [r1,p1][~r2, -(~r2*p2)] = [(r1*~r2), p1-(r1*~r2)*p2]
DE_MATH_API void set (const deFrame &f)
 this = f
DE_MATH_API void set (const deMatrix3 &m, const deVector3 &v)
 this = [m, v]
void set (const deFloat alpha, const deFloat a, const deFloat d, const deFloat theta)
 this = Denavit-Hartenberg parameter
void set (const deVector3 &axis, const deFloat pitch, const deFloat angle)
 this = Screw coordinates

Detailed Description

Transformation class using rotational matrix

This class consists of a matrix for rotation and a vector for translation.

See also:
deVector3, deMatrix3, deFrame

Member Function Documentation

DE_MATH_API void deTransform::identity (   ) 
 

this = identity matrix

DE_MATH_API void deTransform::inverse (  const deTransform &  t  ) 
 

this = ~[r,p] = [~r, -(~r*p)]

DE_MATH_API void deTransform::inversedMultiply (  const deTransform &  t1,
const deTransform &  t2
) 
 

this = ~[r1,p1][r2,p2] = [~r1, -(~r1*p1)][r2,p2] = [~r1*r2, ~r1*(p2-p1)]

DE_MATH_API void deTransform::multiply (  const deTransform &  t1,
const deTransform &  t2
) 
 

this = [r1,p1][r2,p2] = [r1*r2, r1*p2 + p1]

DE_MATH_API void deTransform::multiplyInversed (  const deTransform &  t1,
const deTransform &  t2
) 
 

this = [r1,p1]~[r2,p2] = [r1,p1][~r2, -(~r2*p2)] = [(r1*~r2), p1-(r1*~r2)*p2]

DE_MATH_API void deTransform::operator= (  const deTransform &  t  ) 
 

this = t

DE_MATH_API const deMatrix3 & deTransform::rotation (   )  const
 

Returns:
rotation part

DE_MATH_API deMatrix3 & deTransform::rotation (   ) 
 

Returns:
rotation part

void deTransform::set (  const deVector3 &  axis,
const deFloat  pitch,
const deFloat  angle
) 
 

this = Screw coordinates

void deTransform::set (  const deFloat  alpha,
const deFloat  a,
const deFloat  d,
const deFloat  theta
) 
 

this = Denavit-Hartenberg parameter

DE_MATH_API void deTransform::set (  const deMatrix3 &  m,
const deVector3 &  v
) 
 

this = [m, v]

DE_MATH_API void deTransform::set (  const deFrame &  f  ) 
 

this = f

DE_MATH_API const deVector3 & deTransform::translation (   )  const
 

Returns:
translation part

DE_MATH_API deVector3 & deTransform::translation (   ) 
 

Returns:
translation part

The documentation for this class was generated from the following files:
Generated on Sun Apr 9 22:12:45 2006 for TAO by  doxygen 1.4.6-NO