implementation of a rigid body transformation with a quaternion and a translation vector. More...

#include <rigid_transform.h>

Public Types
typedef cgv::math::fvec< T, 3 >	vec_type
	type of 3d vector

typedef cgv::math::fvec< T, 4 >	hvec_type
	type of homogenous vector

typedef cgv::math::quaternion< T >	quat_type
	type of quaternions

typedef cgv::math::fmat< T, 3, 3 >	mat_type
	type of 3x3 matrix

typedef cgv::math::fmat< T, 4, 4 >	hmat_type
	type of 4x4 matrix

Public Member Functions
	rigid_transform ()
	construct identity

	rigid_transform (const quat_type &_q, const vec_type &_t)
	construct from quaternion and translation vector to the transformation that first rotates and then translates

void	transform_vector (vec_type &v) const
	apply transformation to vector

void	transform_point (vec_type &p) const
	apply transformation to point

rigid_transform< T >	operator* (const rigid_transform< T > &M) const
	concatenate two rigid transformations

rigid_transform< T > &	operator+= (const rigid_transform< T > &T)
	multiply quaternion and translation with scalar

rigid_transform< T > &	operator*= (T s)
	multiply quaternion and translation with scalar

rigid_transform< T >	operator* (T s) const
	multiply quaternion and translation with scalar

void	normalize ()

rigid_transform< T >	inverse () const
	return the inverse transformation

vec_type	get_transformed_vector (const vec_type &v) const
	apply transformation to vector

vec_type	get_transformed_point (const vec_type &p) const
	apply transformation to point

const vec_type &	get_translation () const
	return the translational part

vec_type &	ref_translation ()
	return the translational part

const quat_type &	get_quaternion () const
	return the rotation as quaternion

quat_type &	ref_quaternion ()
	return the rotation as quaternion

hmat_type	get_hmat () const
	convert transformation to homogeneous transformation

hmat_type	get_transposed_hmat () const
	convert transformation to transpose of homogeneous transformation

Protected Attributes
quat_type	q
	store transformation as quaternion

vec_type	t
	and translation vector

Detailed Description

template<typename T>
class cgv::math::rigid_transform< T >

implementation of a rigid body transformation with a quaternion and a translation vector.

Definition at line 13 of file rigid_transform.h.

Member Typedef Documentation

◆ hmat_type

template<typename T >

typedef cgv::math::fmat<T,4,4> cgv::math::rigid_transform< T >::hmat_type

type of 4x4 matrix

Definition at line 25 of file rigid_transform.h.

◆ hvec_type

template<typename T >

typedef cgv::math::fvec<T,4> cgv::math::rigid_transform< T >::hvec_type

type of homogenous vector

Definition at line 19 of file rigid_transform.h.

◆ mat_type

template<typename T >

typedef cgv::math::fmat<T,3,3> cgv::math::rigid_transform< T >::mat_type

type of 3x3 matrix

Definition at line 23 of file rigid_transform.h.

◆ quat_type

template<typename T >

typedef cgv::math::quaternion<T> cgv::math::rigid_transform< T >::quat_type

type of quaternions

Definition at line 21 of file rigid_transform.h.

◆ vec_type

template<typename T >

typedef cgv::math::fvec<T,3> cgv::math::rigid_transform< T >::vec_type

type of 3d vector

Definition at line 17 of file rigid_transform.h.

Constructor & Destructor Documentation

◆ rigid_transform() [1/2]

template<typename T >

cgv::math::rigid_transform< T >::rigid_transform ( )

inline

construct identity

Definition at line 33 of file rigid_transform.h.

◆ rigid_transform() [2/2]

template<typename T >

cgv::math::rigid_transform< T >::rigid_transform	(	const quat_type &	_q,
		const vec_type &	_t
	)

inline

construct from quaternion and translation vector to the transformation that first rotates and then translates

Definition at line 35 of file rigid_transform.h.

Member Function Documentation

◆ get_hmat()

template<typename T >

hmat_type cgv::math::rigid_transform< T >::get_hmat ( ) const

inline

convert transformation to homogeneous transformation

Definition at line 65 of file rigid_transform.h.

References cgv::math::quaternion< T >::put_matrix(), cgv::math::rigid_transform< T >::q, cgv::math::fmat< T, N, M >::set_col(), and cgv::math::rigid_transform< T >::t.

◆ get_quaternion()

template<typename T >

const quat_type & cgv::math::rigid_transform< T >::get_quaternion ( ) const

inline

return the rotation as quaternion

Definition at line 61 of file rigid_transform.h.

References cgv::math::rigid_transform< T >::q.

◆ get_transformed_point()

template<typename T >

vec_type cgv::math::rigid_transform< T >::get_transformed_point ( const vec_type & p ) const

inline

apply transformation to point

Definition at line 55 of file rigid_transform.h.

References cgv::math::quaternion< T >::apply(), cgv::math::rigid_transform< T >::q, and cgv::math::rigid_transform< T >::t.

◆ get_transformed_vector()

template<typename T >

vec_type cgv::math::rigid_transform< T >::get_transformed_vector ( const vec_type & v ) const

inline

apply transformation to vector

Definition at line 53 of file rigid_transform.h.

References cgv::math::quaternion< T >::apply(), and cgv::math::rigid_transform< T >::q.

Referenced by cgv::math::rigid_transform< T >::operator*().

◆ get_translation()

template<typename T >

const vec_type & cgv::math::rigid_transform< T >::get_translation ( ) const

inline

return the translational part

Definition at line 57 of file rigid_transform.h.

References cgv::math::rigid_transform< T >::t.

◆ get_transposed_hmat()

template<typename T >

hmat_type cgv::math::rigid_transform< T >::get_transposed_hmat ( ) const

inline

convert transformation to transpose of homogeneous transformation

Definition at line 76 of file rigid_transform.h.

References cgv::math::quaternion< T >::put_matrix(), cgv::math::rigid_transform< T >::q, cgv::math::fmat< T, N, M >::set_row(), and cgv::math::rigid_transform< T >::t.

◆ inverse()

template<typename T >

rigid_transform< T > cgv::math::rigid_transform< T >::inverse ( ) const

inline

return the inverse transformation

Definition at line 51 of file rigid_transform.h.

References cgv::math::quaternion< T >::inverse(), cgv::math::rigid_transform< T >::q, and cgv::math::rigid_transform< T >::t.

◆ normalize()

template<typename T >

void cgv::math::rigid_transform< T >::normalize ( )

inline

Definition at line 49 of file rigid_transform.h.

◆ operator*() [1/2]

template<typename T >

rigid_transform< T > cgv::math::rigid_transform< T >::operator* ( const rigid_transform< T > & M ) const

inline

concatenate two rigid transformations

Definition at line 41 of file rigid_transform.h.

References cgv::math::rigid_transform< T >::get_transformed_vector(), cgv::math::rigid_transform< T >::q, and cgv::math::rigid_transform< T >::t.

◆ operator*() [2/2]

template<typename T >

rigid_transform< T > cgv::math::rigid_transform< T >::operator* ( T s ) const

inline

multiply quaternion and translation with scalar

Definition at line 47 of file rigid_transform.h.

◆ operator*=()

template<typename T >

rigid_transform< T > & cgv::math::rigid_transform< T >::operator*= ( T s )

inline

multiply quaternion and translation with scalar

Definition at line 45 of file rigid_transform.h.

References cgv::math::rigid_transform< T >::q, and cgv::math::rigid_transform< T >::t.

◆ operator+=()

template<typename T >

rigid_transform< T > & cgv::math::rigid_transform< T >::operator+= ( const rigid_transform< T > & T )

inline

multiply quaternion and translation with scalar

Definition at line 43 of file rigid_transform.h.

References cgv::math::rigid_transform< T >::q, and cgv::math::rigid_transform< T >::t.

◆ ref_quaternion()

template<typename T >

quat_type & cgv::math::rigid_transform< T >::ref_quaternion ( )

inline

return the rotation as quaternion

Definition at line 63 of file rigid_transform.h.

References cgv::math::rigid_transform< T >::q.

◆ ref_translation()

template<typename T >

vec_type & cgv::math::rigid_transform< T >::ref_translation ( )

inline

return the translational part

Definition at line 59 of file rigid_transform.h.

References cgv::math::rigid_transform< T >::t.

◆ transform_point()

template<typename T >

void cgv::math::rigid_transform< T >::transform_point ( vec_type & p ) const

inline

apply transformation to point

Definition at line 39 of file rigid_transform.h.

References cgv::math::rigid_transform< T >::q, cgv::math::quaternion< T >::rotate(), and cgv::math::rigid_transform< T >::t.

◆ transform_vector()

template<typename T >

void cgv::math::rigid_transform< T >::transform_vector ( vec_type & v ) const

inline

apply transformation to vector

Definition at line 37 of file rigid_transform.h.

References cgv::math::rigid_transform< T >::q, and cgv::math::quaternion< T >::rotate().

Member Data Documentation

◆ q

template<typename T >

quat_type cgv::math::rigid_transform< T >::q

protected

store transformation as quaternion

Definition at line 28 of file rigid_transform.h.

◆ t

template<typename T >

vec_type cgv::math::rigid_transform< T >::t

protected

and translation vector

Definition at line 30 of file rigid_transform.h.

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

cgv/math/rigid_transform.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ hmat_type

◆ hvec_type

◆ mat_type

◆ quat_type

◆ vec_type

Constructor & Destructor Documentation

◆ rigid_transform() [1/2]

◆ rigid_transform() [2/2]

Member Function Documentation

◆ get_hmat()

◆ get_quaternion()

◆ get_transformed_point()

◆ get_transformed_vector()

◆ get_translation()

◆ get_transposed_hmat()

◆ inverse()

◆ normalize()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ operator+=()

◆ ref_quaternion()

◆ ref_translation()

◆ transform_point()

◆ transform_vector()

Member Data Documentation

◆ q

◆ t