Transformation class allowing to manage 3d affine transformations. More...

#include <Affine3d.h>

Inheritance diagram for ipsdk::math::transform::Affine3d:

Public Types
enum	eTransformParams { eTP_Axx, eTP_Axy, eTP_Axz, eTP_Ayx, eTP_Ayy, eTP_Ayz, eTP_Azx, eTP_Azy, eTP_Azz, eTP_Tx, eTP_Ty, eTP_Tz }

Public Member Functions
	IPSDK_DECLARE_TRANSFORM3D (Affine3d)

void	setParams (const ipReal64 axx, const ipReal64 axy, const ipReal64 axz, const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayz, const ipReal64 azx, const ipReal64 azy, const ipReal64 azz, const ipReal64 tx, const ipReal64 ty, const ipReal64 tz)
	select parameters associated to transformation

void	setParams (const Vector &params)
	select parameters associated to transformation More...

void	setIdentity ()
	set transformation parameters to identity

void	apply (ipReal64 &x, ipReal64 &y, ipReal64 &z) const
	apply transformation to a given point

Matrix4d	getHomogenousMatrix () const
	retrieve homogeneous matrix associated to transformation

Vector	getParams () const
	retrieve parameters associated to transformation

Matrix4d	getInvHomogenousMatrix () const
	retrieve invert of homogeneous matrix associated to transformation

Vector	getInvParams () const
	retrieve invert parameters associated to transformation

Constructors and destructor
	Affine3d ()

	Affine3d (const ipReal64 axx, const ipReal64 axy, const ipReal64 axz, const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayz, const ipReal64 azx, const ipReal64 azy, const ipReal64 azz, const ipReal64 tx, const ipReal64 ty, const ipReal64 tz)

	~Affine3d ()

Public Member Functions inherited from ipsdk::math::transform::BaseLinearGeometricTransform3d
bool	isLinear () const
	retrieve flag indicating whether geometric transform is linear

	BaseLinearGeometricTransform3d ()

virtual	~BaseLinearGeometricTransform3d ()=0

Public Member Functions inherited from ipsdk::math::transform::BaseGeometricTransform3d
virtual eGeometricTransform3dType	getGeometricTransform3dType () const =0
	retrieve geometric transform 3d type

virtual ipUInt32	getNbParams () const =0
	retrieve number of parameters associated to geometric transformation

template<typename T >
void	apply (const T xIn, const T yIn, const T zIn, T &xOut, T &yOut, T &zOut) const
	apply transformation to a given point

virtual bool	isInvertible () const
	check whether transformation can be inverted

GeometricTransform3dPtr	createInverted () const
	create an inversed transformation from current one More...

	BaseGeometricTransform3d ()

virtual	~BaseGeometricTransform3d ()

Static Public Member Functions
static void	transform (const ipReal64 axx, const ipReal64 axy, const ipReal64 axz, const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayz, const ipReal64 azx, const ipReal64 azy, const ipReal64 azz, const ipReal64 tx, const ipReal64 ty, const ipReal64 tz, ipReal64 &x, ipReal64 &y, ipReal64 &z)
	application of transformation to a point

static Matrix4d	getHomogenousMatrix (const ipReal64 axx, const ipReal64 axy, const ipReal64 axz, const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayz, const ipReal64 azx, const ipReal64 azy, const ipReal64 azz, const ipReal64 tx, const ipReal64 ty, const ipReal64 tz)
	retrieve homogeneous matrix associated to transformation

static Matrix4d	getInvHomogenousMatrix (const ipReal64 axx, const ipReal64 axy, const ipReal64 axz, const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayz, const ipReal64 azx, const ipReal64 azy, const ipReal64 azz, const ipReal64 tx, const ipReal64 ty, const ipReal64 tz)
	retrieve invert of homogeneous matrix associated to transformation More...

static void	getInvParams (ipReal64 &axx, ipReal64 &axy, ipReal64 &axz, ipReal64 &ayx, ipReal64 &ayy, ipReal64 &ayz, ipReal64 &azx, ipReal64 &azy, ipReal64 &azz, ipReal64 &tx, ipReal64 &ty, ipReal64 &tz)
	retrieve invert parameters for transformation More...

static Vector	getIdentityParams ()
	retrieve identity parameters for transformation

Protected Attributes
ipReal64	_tx
	translation coordinate along x axis

ipReal64	_ty
	translation coordinate along y axis

ipReal64	_tz
	translation coordinate along z axis


ipReal64	_axx

ipReal64	_axy

ipReal64	_axz

ipReal64	_ayx

ipReal64	_ayy

ipReal64	_ayz

ipReal64	_azx

ipReal64	_azy

ipReal64	_azz

Additional Inherited Members
Static Public Attributes inherited from ipsdk::math::transform::BaseLinearGeometricTransform3d
static const bool	g_bLinear = true
	linear status for transformation

Detailed Description

Transformation class allowing to manage 3d affine transformations.

Author: E.Noirfalise

Date: 2017/01/17

Copyright: 2017 Reactiv'IP, all right reserved.

Member Enumeration Documentation

◆ eTransformParams

enum ipsdk::math::transform::Affine3d::eTransformParams

parameters list associated to transformation

Note: This object is associated to a strong enumerate definition

See also: IPSDK_Enum

Enumerator
eTP_Axx	xx term of matrix
eTP_Axy	xy term of matrix
eTP_Axz	xy term of matrix
eTP_Ayx	yx term of matrix
eTP_Ayy	yy term of matrix
eTP_Ayz	yz term of matrix
eTP_Azx	zx term of matrix
eTP_Azy	zy term of matrix
eTP_Azz	zz term of matrix
eTP_Tx	translation along x axis
eTP_Ty	translation along y axis
eTP_Tz	translation along z axis

Member Function Documentation

◆ getInvHomogenousMatrix()

static Matrix4d ipsdk::math::transform::Affine3d::getInvHomogenousMatrix	(	const ipReal64	axx,
		const ipReal64	axy,
		const ipReal64	axz,
		const ipReal64	ayx,
		const ipReal64	ayy,
		const ipReal64	ayz,
		const ipReal64	azx,
		const ipReal64	azy,
		const ipReal64	azz,
		const ipReal64	tx,
		const ipReal64	ty,
		const ipReal64	tz
	)

inlinestatic

retrieve invert of homogeneous matrix associated to transformation

Exceptions

ipsdk::math::IPSDKMathException if 3x3 matrix formed by axx, axy, axz, ayx, ayy, ayz, azx, azy, azz cannot be inverted

◆ getInvParams()

static void ipsdk::math::transform::Affine3d::getInvParams	(	ipReal64 &	axx,
		ipReal64 &	axy,
		ipReal64 &	axz,
		ipReal64 &	ayx,
		ipReal64 &	ayy,
		ipReal64 &	ayz,
		ipReal64 &	azx,
		ipReal64 &	azy,
		ipReal64 &	azz,
		ipReal64 &	tx,
		ipReal64 &	ty,
		ipReal64 &	tz
	)

static

retrieve invert parameters for transformation

Exceptions

ipsdk::math::IPSDKMathException if 2x2 matrix formed by axx, axy, ayx, ayy cannot be inverted

◆ setParams()

void ipsdk::math::transform::Affine3d::setParams ( const Vector & params )

virtual

select parameters associated to transformation

Exceptions

ipsdk::math::IPSDKMathException if params.size() != getNbParams()

Implements ipsdk::math::transform::BaseGeometricTransform3d.