xv::Transform Struct Reference

Represents a transformation (or pose) with translation and rotation matrix. More...

#include <xv-types.h>

Public Member Functions
	Transform (details::Transform_< double > &&o)
	Transform (Vector3d const &t, Matrix3d const &r)
Transform_ &	operator*= (Transform_ const &q)
	Composition operator for transformations.
Vector3< double > const &	translation () const
	Get the translation part of the transformation. More...
void	setTranslation (Vector3< double > const &v)
	Set the translation part of the transformation.
void	setTranslation (double const *v)
	Set the translation part of the transformation using pointer to 3D array.
Matrix3< double > const &	rotation () const
	Get the rotation matrix part of the transformation. More...
void	setRotation (Matrix3< double > const &v)
	Get the rotation matrix part of the transformation.
void	setRotation (double const *v)
	Set the rotation matrix (row major 3x3) part of the transformation using pointer to array of size 9.
double	x () const
	X coordinate of the translation.
double	y () const
	Y coordinate of the translation.
double	z () const
	Z coordinate of the translation.
Transform_< double >	inverse () const
	Compute the inverse transformation. More...

Static Public Member Functions
static Transform_	Identity ()

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

Detailed Description

Represents a transformation (or pose) with translation and rotation matrix.

Member Function Documentation

inverse()

Transform_<double > xv::details::Transform_< double >::inverse ( ) const

inherited

Compute the inverse transformation.

Returns

Return the inverse transformation

rotation()

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

inlineinherited

Get the rotation matrix part of the transformation.

Returns

row major 3x3 matrix

translation()

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

inlineinherited

Get the translation part of the transformation.

Returns

[x,y,z] vector

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

• /sources/include/xv-types.h