xv::details::Transform_< F > Class Template Reference

#include <xv-types.h>

Public Member Functions
	Transform_ (Vector3< F > const &t, Matrix3< F > const &r={})
Transform_ &	operator*= (Transform_ const &q)
	Composition operator for transformations.
Vector3< F > const &	translation () const
	Get the translation part of the transformation. More...
void	setTranslation (Vector3< F > const &v)
	Set the translation part of the transformation.
void	setTranslation (F const *v)
	Set the translation part of the transformation using pointer to 3D array.
Matrix3< F > const &	rotation () const
	Get the rotation matrix part of the transformation. More...
void	setRotation (Matrix3< F > const &v)
	Get the rotation matrix part of the transformation.
void	setRotation (F const *v)
	Set the rotation matrix (row major 3x3) part of the transformation using pointer to array of size 9.
F	x () const
	X coordinate of the translation.
F	y () const
	Y coordinate of the translation.
F	z () const
	Z coordinate of the translation.
Transform_< F >	inverse () const
	Compute the inverse transformation. More...

Static Public Member Functions
static Transform_	Identity ()

Protected Attributes
Vector3< F >	m_translation
Matrix3< F >	m_rotation

Detailed Description

template<class F = double>
class xv::details::Transform_< F >

Pose of an object in a parent frame coordinate, it correspond to the transformation from object (current) frame coordinates to parent frame coordinates.

Member Function Documentation

inverse()

template<class F = double>

Transform_<F> xv::details::Transform_< F >::inverse

(

)

const

Compute the inverse transformation.

Returns

Return the inverse transformation

rotation()

template<class F = double>

Matrix3<F> const& xv::details::Transform_< F >::rotation ( ) const

inline

Get the rotation matrix part of the transformation.

Returns

row major 3x3 matrix

translation()

template<class F = double>

Vector3<F> const& xv::details::Transform_< F >::translation ( ) const

inline

Get the translation part of the transformation.

Returns

[x,y,z] vector

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

• /sources/include/xv-types.h