Affine transformation parameterized with quaterions. More...
#include <geometry.h>
Public Member Functions | |
RaveTransform () | |
template<typename U > | |
RaveTransform (const RaveTransform< U > &t) | |
template<typename U > | |
RaveTransform (const RaveVector< U > &rot, const RaveVector< U > &trans) | |
RaveTransform (const RaveTransformMatrix< T > &t) | |
void | identity () |
RaveVector< T > | operator* (const RaveVector< T > &r) const |
transform a 3 dim vector | |
RaveVector< T > | rotate (const RaveVector< T > &r) const |
transform a vector by the rotation component only | |
RaveTransform< T > | rotate (const RaveTransform< T > &r) const |
transform a transform by the rotation component only | |
RaveTransform< T > | operator* (const RaveTransform< T > &r) const |
t = this * r | |
RaveTransform< T > & | operator*= (const RaveTransform< T > &right) |
RaveTransform< T > | inverse () const |
template<typename U > | |
RaveTransform< T > & | operator= (const RaveTransform< U > &r) |
Public Attributes | |
RaveVector< T > | rot |
RaveVector< T > | trans |
rot is a quaternion=(cos(ang/2),axisx*sin(ang/2),axisy*sin(ang/2),axisz*sin(ang/2)) | |
Friends | |
template<typename U > | |
std::ostream & | operator<< (std::ostream &O, const RaveTransform< U > &v) |
template<typename U > | |
std::istream & | operator>> (std::istream &I, RaveTransform< U > &v) |
Affine transformation parameterized with quaterions.
Definition at line 377 of file geometry.h.
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Definition at line 380 of file geometry.h.
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Definition at line 383 of file geometry.h.
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Definition at line 389 of file geometry.h.
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Definition at line 1136 of file geometry.h.
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Definition at line 395 of file geometry.h.
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Definition at line 459 of file geometry.h.
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transform a 3 dim vector
Definition at line 401 of file geometry.h.
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t = this * r
Definition at line 440 of file geometry.h.
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Definition at line 454 of file geometry.h.
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Definition at line 470 of file geometry.h.
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transform a vector by the rotation component only
Definition at line 406 of file geometry.h.
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transform a transform by the rotation component only
Definition at line 425 of file geometry.h.
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friend |
Definition at line 762 of file geometry.h.
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friend |
Definition at line 768 of file geometry.h.
RaveVector<T> OpenRAVE::geometry::RaveTransform< T >::rot |
Definition at line 481 of file geometry.h.
RaveVector<T> OpenRAVE::geometry::RaveTransform< T >::trans |
rot is a quaternion=(cos(ang/2),axisx*sin(ang/2),axisy*sin(ang/2),axisz*sin(ang/2))
Definition at line 481 of file geometry.h.