b2000::Transformation3D< T > Class Template Reference

#include "b2referential.H"

Public Member Functions
	Transformation3D ()
	Transformation3D (const Transformation3D &t)
	Transformation3D (const T rotation_matrix[9], const T translation_vector[3]=0, const bool invert=false)
bool	operator== (const Transformation3D &trans) const
void	init (const T rotation_matrix[9], const T translation_vector[3]=0, const bool invert=false)
const T *	get_rotation_matrix () const
const T *	get_inv_rotation_matrix () const
const T *	get_translation_vector () const
const T *	get_inv_translation_vector () const
bool	is_identity () const
bool	is_rotation_identity () const

Static Public Member Functions
static const Transformation3D &	get_identity ()

Detailed Description

template<typename T>
class b2000::Transformation3D< T >

A 3-dimensional transformation of the form X' = A.X + B. A is a rotation matrix and B a translation vector. The inverse of the transformation is pre-calculated at object construction. The rotation and inverse rotation matrix are stored in a factored form (A = L.U where L is a lower triangular matrix and U is a upper unit diagonal triangular matrix) to allow in-place calculation X' = L.U.X + B

Constructor & Destructor Documentation

Transformation3D() [1/3]

template<typename T >

b2000::Transformation3D< T >::Transformation3D ( )

inline

Construct a identity 3D transformation.

Transformation3D() [2/3]

template<typename T >

b2000::Transformation3D< T >::Transformation3D ( const Transformation3D< T > &  t )

inline

Copy constructor.

Transformation3D() [3/3]

template<typename T >

b2000::Transformation3D< T >::Transformation3D ( const T  rotation_matrix[9], const T  translation_vector[3] = 0, const bool  invert = false  )

inline

Construct a 3D transformation.

Parameters

rotation_matrix	A pointer to an array containing the rotation matrix in column-major format (input).
translation_vector	A pointer to the array containing the translation vector, can be 0 (input, default is 0).
invert	If true the given transformation is inverted (input, default is false).

Member Function Documentation

get_identity()

template<typename T >

static const Transformation3D & b2000::Transformation3D< T >::get_identity ( )

inlinestatic

Returns

A reference to the static identity transformation object.

get_inv_rotation_matrix()

template<typename T >

const T * b2000::Transformation3D< T >::get_inv_rotation_matrix ( ) const

inline

Returns

A pointer to the inverse of the rotation matrix. The matrix is given in row-major format.

get_inv_translation_vector()

template<typename T >

const T * b2000::Transformation3D< T >::get_inv_translation_vector ( ) const

inline

Returns

A pointer to the inverse of the translation vector.

get_rotation_matrix()

template<typename T >

const T * b2000::Transformation3D< T >::get_rotation_matrix ( ) const

inline

Returns

A pointer to the rotation matrix. The rotation matrix is given in row-major format.

get_translation_vector()

template<typename T >

const T * b2000::Transformation3D< T >::get_translation_vector ( ) const

inline

Returns

A pointer to the translation vector.

init()

template<typename T >

void b2000::Transformation3D< T >::init ( const T  rotation_matrix[9], const T  translation_vector[3] = 0, const bool  invert = false  )

inline

Initialize a 3D transformation.

Parameters

rotation_matrix	A pointer to an array containing the rotation matrix in column-major format (input).
translation_vector	A pointer to the array containing the translation vector, can be 0 (input, default is 0).
invert	If true the given transformation is inverted (input, default is false).

is_identity()

template<typename T >

bool b2000::Transformation3D< T >::is_identity ( ) const

inline

Returns

Whether the transformation is the identity transformation.

is_rotation_identity()

template<typename T >

bool b2000::Transformation3D< T >::is_rotation_identity ( ) const

inline

Returns

Whether the rotation matrix is the identity matrix.

operator==()

template<typename T >

bool b2000::Transformation3D< T >::operator== ( const Transformation3D< T > &  trans ) const

inline

Compare two 3D transformation instances.

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

• model/b2referential.H