ipsdk::math::transform::Rotation3d Class Reference

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

#include <Rotation3d.h>

Inheritance diagram for ipsdk::math::transform::Rotation3d:

Public Types
enum	eTransformParams { eTP_Chi, eTP_Beta, eTP_Alpha }

Public Member Functions
	IPSDK_DECLARE_TRANSFORM3D (Rotation3d)
void	setParams (const ipReal64 chi, const ipReal64 beta, const ipReal64 alpha)
	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
	Rotation3d ()
	Rotation3d (const ipReal64 chi, const ipReal64 beta, const ipReal64 alpha)
	~Rotation3d ()
ipReal64	getChi () const
	retrieve parameters associated to transformation
ipReal64	getBeta () const
	retrieve parameters associated to transformation
ipReal64	getAlpha () 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)
	retrieve invert of homogeneous matrix associated to transformation
static void	getInvParams (ipReal64 &chi, ipReal64 &beta, ipReal64 &alpha)
	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, 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, ipReal64 &x, ipReal64 &y, ipReal64 &z)
	application of transformation to a point
static Matrix4d	getHomogenousMatrix (const ipReal64 chi, const ipReal64 beta, const ipReal64 alpha)
	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)
	retrieve homogeneous matrix associated to transformation

Protected Attributes
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 rotation transformations.

Author

E.Noirfalise

Date

2017/01/17

Copyright

2017 Reactiv'IP, all right reserved.

Member Enumeration Documentation

eTransformParams

enum ipsdk::math::transform::Rotation3d::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

Member Function Documentation

setParams()

void ipsdk::math::transform::Rotation3d::setParams ( const Vector &  params )

virtual

select parameters associated to transformation

Exceptions

ipsdk::math::IPSDKMathException

if params.size() != getNbParams()

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

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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/Rotation3d.h