Affine transformation parameterized with rotation matrices. Scales and shears are not supported. More...
#include <geometry.h>
Public Member Functions | |
RaveTransformMatrix () | |
template<typename U > | |
RaveTransformMatrix (const RaveTransformMatrix< U > &t) | |
RaveTransformMatrix (const RaveTransform< T > &t) | |
void | identity () |
void | rotfrommat (T m_00, T m_01, T m_02, T m_10, T m_11, T m_12, T m_20, T m_21, T m_22) |
T | rot (int i, int j) const |
T & | rot (int i, int j) |
template<typename U > | |
RaveVector< T > | operator* (const RaveVector< U > &r) const |
RaveTransformMatrix< T > | operator* (const RaveTransformMatrix< T > &r) const |
t = this * r | |
RaveTransformMatrix< T > | operator*= (const RaveTransformMatrix< T > &r) const |
template<typename U > | |
RaveVector< U > | rotate (const RaveVector< U > &r) const |
RaveTransformMatrix< T > | rotate (const RaveTransformMatrix< T > &r) const |
RaveTransformMatrix< T > | inverse () const |
being on the safe side, do the full inverse incase someone uses scaling. | |
template<typename U > | |
void | Extract (RaveVector< U > &right, RaveVector< U > &up, RaveVector< U > &dir, RaveVector< U > &pos) const |
Public Attributes | |
T | m [12] |
RaveVector< T > | trans |
translation component | |
Friends | |
template<typename U > | |
std::ostream & | operator<< (std::ostream &O, const RaveTransformMatrix< U > &v) |
serialize in column order! This is the format transformations are passed across the network | |
template<typename U > | |
std::istream & | operator>> (std::istream &I, RaveTransformMatrix< U > &v) |
de-serialize in column order! This is the format transformations are passed across the network | |
Affine transformation parameterized with rotation matrices. Scales and shears are not supported.
Definition at line 489 of file geometry.h.
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Definition at line 492 of file geometry.h.
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Definition at line 495 of file geometry.h.
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Definition at line 1143 of file geometry.h.
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Definition at line 609 of file geometry.h.
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Definition at line 504 of file geometry.h.
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being on the safe side, do the full inverse incase someone uses scaling.
Definition at line 585 of file geometry.h.
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Definition at line 527 of file geometry.h.
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t = this * r
Definition at line 536 of file geometry.h.
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Definition at line 553 of file geometry.h.
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Definition at line 517 of file geometry.h.
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Definition at line 521 of file geometry.h.
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Definition at line 559 of file geometry.h.
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Definition at line 567 of file geometry.h.
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Definition at line 511 of file geometry.h.
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serialize in column order! This is the format transformations are passed across the network
Definition at line 788 of file geometry.h.
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friend |
de-serialize in column order! This is the format transformations are passed across the network
Definition at line 795 of file geometry.h.
T OpenRAVE::geometry::RaveTransformMatrix< T >::m[12] |
3x3 rotation matrix. Note that each row is 4 elements long! So row 1 starts at m[4], row 2 at m[8] The reason is to maintain 16 byte alignment when sizeof(T) is 4 bytes
Definition at line 621 of file geometry.h.
RaveVector<T> OpenRAVE::geometry::RaveTransformMatrix< T >::trans |
translation component
Definition at line 622 of file geometry.h.