Specialization of RigidTransform for 3 dimensions. More...

#include <transform/RigidTransform.h>

Inheritance diagram for RigidTransform< T, 3 >:

Public Types
enum

typedef T	Type
	The used floating point type (float, double, long double) More...

typedef Eigen::Matrix< T, D, 1 >	TranslationType
	Vector type used to represent the translational part (dimension depends on dimensionality of transform). More...

typedef Eigen::Quaternion< T >	RotationType
	Type used to represent the rotational part (Eigen::Rotation2D for 2D transforms, Eigen::Quaternion for 3D transforms) More...

typedef Eigen::Matrix< T, HDim, HDim >	MatrixType
	Type of the matrix that can describe the full affine transform in homogeneous space. More...

Public Member Functions
	RigidTransform ()

	RigidTransform (const Eigen::Matrix< T, 3, 1 > &translation, const Eigen::Quaternion< T > &rotation)

	RigidTransform (T x, T y, T z, T yaw, T pitch, T roll)

template<typename U >
RigidTransform< U, 3 >	cast () const
	Returns *this casted to U. More...

T &	x ()
	Returns the x-coordinate of the translational part of the transform. More...

T	x () const
	Returns the x-coordinate of the translational part of the transform. More...

T &	y ()
	Returns the y-coordinate of the translational part of the transform. More...

T	y () const
	Returns the y-coordinate of the translational part of the transform. More...

T &	z ()
	Returns the z-coordinate of the translational part of the transform. More...

T	z () const
	Returns the z-coordinate of the translational part of the transform. More...

T	yaw () const
	Returns the yaw angle in rad (This corresponds to phi in a 2D transform). More...

T	pitch () const
	Returns the pitch angle in rad. More...

T	roll () const
	Returns the roll angle in rad. More...

template<typename Derived >
void	reflect (BinarySerializer< Derived > &r)

template<typename Derived >
void	reflect (BinaryDeserializer< Derived > &r)

template<typename Reflector >
void	reflectRead (Reflector &r)

template<typename Reflector >
void	reflectWrite (Reflector &r)

RigidTransform< T, 3 >	inverse () const
	Computes and returns the inverse transform of this. More...

bool	isApprox (const RigidTransformBase &other, T prec=std::numeric_limits< T >::epsilon()) const
	Returns true if this is approximately equal to other, within the precision determined by prec. More...

RigidTransform< T, 3 > &	operator*= (const RigidTransformBase &other)
	Concatenates this transform with an other transform. More...

ei_rigidtransform_product_impl< D, RigidTransform< T, 3 >, OtherDerived >::TResult	operator* (const Eigen::MatrixBase< OtherDerived > &other) const
	Apply the transformation to an Eigen matrix. More...

	operator Eigen::Transform< T, D, Eigen::Isometry > ()
	Cast operator that casts the rigid transform into a generic Eigen::Transform object. More...

MatrixType	getMatrix () const
	Computes and returns the matrix that describes the affine transformation in homogeneous space. More...

Public Attributes
TranslationType	t
	Vector that describes the translational part of the transform. More...

RotationType	r
	The rotational part of the transform. More...

Protected Member Functions
RigidTransform< T, 3 > *	This ()
	casts this to the actual derived type (see Curiously recurring template pattern) More...

const RigidTransform< T, 3 > *	This () const
	casts this to the actual derived type (see Curiously recurring template pattern) More...

Static Protected Member Functions
static RigidTransform< T, 3 >	mul (const RigidTransformBase &a, const RigidTransformBase &b)

Friends
MIRA_SPLIT_REFLECT_MEMBER friend std::ostream &	operator<< (std::ostream &os, const RigidTransform &tf)

Detailed Description

template<typename T>
class mira::RigidTransform< T, 3 >

Specialization of RigidTransform for 3 dimensions.

This class represents an affine transformation that supports a translation followed by a rotation (a so called rigid transform). A rigid transformation is one in which the pre-image and the image both has the exact same size and shape.

These limitations are sufficient for our purposes (rigid body transform, transformation of coordinate frames, etc) and allows efficient computation of the operations. Moreover, the limitation to rigid transforms allows efficient interpolation between two different transformations.

Member Typedef Documentation

◆ Type

typedef T Type

inherited

The used floating point type (float, double, long double)

◆ TranslationType

typedef Eigen::Matrix<T,D,1> TranslationType

inherited

Vector type used to represent the translational part (dimension depends on dimensionality of transform).

◆ RotationType

typedef Eigen::Quaternion< T > RotationType

inherited

Type used to represent the rotational part (Eigen::Rotation2D for 2D transforms, Eigen::Quaternion for 3D transforms)

◆ MatrixType

typedef Eigen::Matrix<T,HDim,HDim> MatrixType

inherited

Type of the matrix that can describe the full affine transform in homogeneous space.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Constructor & Destructor Documentation

◆ RigidTransform() [1/3]

RigidTransform ( )

inline

◆ RigidTransform() [2/3]

RigidTransform	(	const Eigen::Matrix< T, 3, 1 > &	translation,
		const Eigen::Quaternion< T > &	rotation
	)

inline

◆ RigidTransform() [3/3]

RigidTransform	(	T	x,
		T	y,
		T	z,
		T	yaw,
		T	pitch,
		T	roll
	)

inline

Member Function Documentation

◆ cast()

RigidTransform<U,3> cast ( ) const

inline

Returns *this casted to U.

◆ x() [1/2]

T& x ( )

inline

Returns the x-coordinate of the translational part of the transform.

◆ x() [2/2]

T x ( ) const

inline

Returns the x-coordinate of the translational part of the transform.

◆ y() [1/2]

T& y ( )

inline

Returns the y-coordinate of the translational part of the transform.

◆ y() [2/2]

T y ( ) const

inline

Returns the y-coordinate of the translational part of the transform.

◆ z() [1/2]

T& z ( )

inline

Returns the z-coordinate of the translational part of the transform.

◆ z() [2/2]

T z ( ) const

inline

Returns the z-coordinate of the translational part of the transform.

◆ yaw()

T yaw ( ) const

inline

Returns the yaw angle in rad (This corresponds to phi in a 2D transform).

Note: : This method is provided for convenience. It's computation can be quite expensive. Hence, use it with care and use the underlying quaternion instead whenever possible.

◆ pitch()

T pitch ( ) const

inline

Returns the pitch angle in rad.

Note: : This method is provided for convenience. It's computation can be quite expensive. Hence, use it with care and use the underlying quaternion instead whenever possible.

◆ roll()

T roll ( ) const

inline

Returns the roll angle in rad.

Note: : This method is provided for convenience. It's computation can be quite expensive. Hence, use it with care and use the underlying quaternion instead whenever possible.

◆ reflect() [1/2]

void reflect ( BinarySerializer< Derived > & r )

inline

◆ reflect() [2/2]

void reflect ( BinaryDeserializer< Derived > & r )

inline

◆ reflectRead()

void reflectRead ( Reflector & r )

inline

◆ reflectWrite()

void reflectWrite ( Reflector & r )

inline

◆ inverse()

RigidTransform< T, 3 > inverse ( void ) const

inlineinherited

Computes and returns the inverse transform of this.

◆ isApprox()

bool isApprox	(	const RigidTransformBase< T, 3, Eigen::Quaternion< T >, RigidTransform< T, 3 > > &	other,
		T	prec = `std::numeric_limits<T>::epsilon()`
	)		const

inlineinherited

Returns true if this is approximately equal to other, within the precision determined by prec.

Returns: true if approximately equal, false otherwise

◆ operator*=()

RigidTransform< T, 3 > & operator*= ( const RigidTransformBase< T, 3, Eigen::Quaternion< T >, RigidTransform< T, 3 > > & other )

inlineinherited

Concatenates this transform with an other transform.

◆ operator*()

ei_rigidtransform_product_impl<D, RigidTransform< T, 3 > , OtherDerived>::TResult operator* ( const Eigen::MatrixBase< OtherDerived > & other ) const

inlineinherited

Apply the transformation to an Eigen matrix.

The matrix must be a fixed matrix of the size Dx1 or a dynamic matrix of the same size.

◆ operator Eigen::Transform< T, D, Eigen::Isometry >()

operator Eigen::Transform< T, D, Eigen::Isometry > ( )

inlineinherited

Cast operator that casts the rigid transform into a generic Eigen::Transform object.

◆ getMatrix()

MatrixType getMatrix ( ) const

inlineinherited

Computes and returns the matrix that describes the affine transformation in homogeneous space.

The dimensions of the matrix is 3x3 for 2D transformations and 4x4 for 3D transformations.

◆ This() [1/2]

RigidTransform< T, 3 > * This ( )

inlineprotectedinherited

casts this to the actual derived type (see Curiously recurring template pattern)

◆ This() [2/2]

const RigidTransform< T, 3 > * This ( ) const

inlineprotectedinherited

casts this to the actual derived type (see Curiously recurring template pattern)

◆ mul()

static RigidTransform< T, 3 > mul	(	const RigidTransformBase< T, 3, Eigen::Quaternion< T >, RigidTransform< T, 3 > > &	a,
		const RigidTransformBase< T, 3, Eigen::Quaternion< T >, RigidTransform< T, 3 > > &	b
	)

inlinestaticprotectedinherited

Friends And Related Function Documentation

◆ operator<<

MIRA_SPLIT_REFLECT_MEMBER friend std::ostream& operator<<	(	std::ostream &	os,
		const RigidTransform< T, 3 > &	tf
	)

friend

Member Data Documentation

◆ t

TranslationType t

inherited

Vector that describes the translational part of the transform.

◆ r

RotationType r

inherited

The rotational part of the transform.

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

base/include/transform/RigidTransform.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Friends

Detailed Description

template<typename T> class mira::RigidTransform< T, 3 >

Member Typedef Documentation

◆ Type

◆ TranslationType

◆ RotationType

◆ MatrixType

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ RigidTransform() [1/3]

◆ RigidTransform() [2/3]

◆ RigidTransform() [3/3]

Member Function Documentation

◆ cast()

◆ x() [1/2]

◆ x() [2/2]

◆ y() [1/2]

◆ y() [2/2]

◆ z() [1/2]

◆ z() [2/2]

◆ yaw()

◆ pitch()

◆ roll()

◆ reflect() [1/2]

◆ reflect() [2/2]

◆ reflectRead()

◆ reflectWrite()

◆ inverse()

◆ isApprox()

◆ operator*=()

◆ operator*()

◆ operator Eigen::Transform< T, D, Eigen::Isometry >()

◆ getMatrix()

◆ This() [1/2]

◆ This() [2/2]

◆ mul()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ t

◆ r

template<typename T>
class mira::RigidTransform< T, 3 >