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

#include <Rigid3d.h>

Inheritance diagram for ipsdk::math::transform::Rigid3d:

Public Types
enum	eTransformParams { eTP_Chi, eTP_Beta, eTP_Alpha, eTP_Tx, eTP_Ty, eTP_Tz }

Public Member Functions
	IPSDK_DECLARE_TRANSFORM3D (Rigid3d)

void	setParams (const ipReal64 chi, const ipReal64 beta, const ipReal64 alpha, const ipReal64 tx, const ipReal64 ty, const ipReal64 tz)
	select parameters associated to transformation

void	setCenteredRotation (const ipReal64 chi, const ipReal64 beta, const ipReal64 alpha, const ipReal64 centerX, const ipReal64 centerY, const ipReal64 centerZ)
	initialization of rigid transformation as a rotation centered on a given point

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
	Rigid3d ()

	Rigid3d (const ipReal64 chi, const ipReal64 beta, const ipReal64 alpha, const ipReal64 tx, const ipReal64 ty, const ipReal64 tz)

	~Rigid3d ()


ipReal64	getChi () const
	retrieve parameters associated to transformation

ipReal64	getBeta () const
	retrieve parameters associated to transformation

ipReal64	getAlpha () const
	retrieve parameters associated to transformation

ipReal64	getTx () const
	retrieve parameters associated to transformation

ipReal64	getTy () const
	retrieve parameters associated to transformation

ipReal64	getTz () const
	retrieve parameters associated to transformation

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 Matrix4d	getInvHomogenousMatrix (const ipReal64 chi, const ipReal64 beta, const ipReal64 alpha, const ipReal64 tx, const ipReal64 ty, const ipReal64 tz)
	retrieve invert of homogeneous matrix associated to transformation

static void	getInvParams (ipReal64 &chi, ipReal64 &beta, ipReal64 &alpha, ipReal64 &tx, ipReal64 &ty, ipReal64 &tz)
	retrieve invert parameters for transformation

static Vector	getIdentityParams ()
	retrieve identity parameters for transformation


static void	transform (const ipReal64 chi, const ipReal64 beta, const ipReal64 alpha, const ipReal64 tx, const ipReal64 ty, const ipReal64 tz, ipReal64 &x, ipReal64 &y, ipReal64 &z)
	application of transformation to a point

static void	transform (const ipReal64 cosChi, const ipReal64 sinChi, const ipReal64 cosBeta, const ipReal64 sinBeta, const ipReal64 cosAlpha, const ipReal64 sinAlpha, 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 chi, const ipReal64 beta, const ipReal64 alpha, const ipReal64 tx, const ipReal64 ty, const ipReal64 tz)
	retrieve homogeneous matrix associated to transformation

static Matrix4d	getHomogenousMatrix (const ipReal64 cosChi, const ipReal64 sinChi, const ipReal64 cosBeta, const ipReal64 sinBeta, const ipReal64 cosAlpha, const ipReal64 sinAlpha, const ipReal64 tx, const ipReal64 ty, const ipReal64 tz)
	retrieve homogeneous matrix associated to transformation

Protected Attributes
ipReal64	_tx
	translation coordinate along x axis

ipReal64	_ty
	translation coordinate along y axis

ipReal64	_tz
	translation coordinate along y axis


ipReal64	_chi
	angles of rotation in radians

ipReal64	_beta
	angles of rotation in radians

ipReal64	_alpha
	angles of rotation in radians


ipReal64	_cosChi
	computation intermediates

ipReal64	_sinChi
	computation intermediates

ipReal64	_cosBeta
	computation intermediates

ipReal64	_sinBeta
	computation intermediates

ipReal64	_cosAlpha
	computation intermediates

ipReal64	_sinAlpha
	computation intermediates

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 rigid transformations.

Author: E.Noirfalise

Date: 2017/01/17

Copyright: 2017 Reactiv'IP, all right reserved.

Member Enumeration Documentation

◆ eTransformParams

enum ipsdk::math::transform::Rigid3d::eTransformParams

parameters list associated to transformation

Note: This object is associated to a strong enumerate definition

See also: IPSDK_Enum

Enumerator
eTP_Chi	angle of rotation in radians
eTP_Beta	angle of rotation in radians
eTP_Alpha	angle of rotation in radians
eTP_Tx	translation along x axis
eTP_Ty	translation along y axis
eTP_Tz	translation along z axis

Member Function Documentation

◆ setParams()

void ipsdk::math::transform::Rigid3d::setParams ( const Vector & params )

virtual

select parameters associated to transformation

Exceptions

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

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

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

/media/reactivipdev/Nightly/IPSDK_Patch/IPSDK_4_1/IPSDK_Nightly/include/public/IPSDKMath/Geometry/3d/Transform/Rigid3d.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ eTransformParams

Member Function Documentation

◆ setParams()