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claraty::QTrans

claraty::QTrans< T > Class Template Reference
[Data Structure]

#include <qtrans.h>

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List of all members.

Mutators

void set_x (T x)
void set_y (T y)
void set_z (T z)
void set_xy (T x, T y)
void set_xyz (T x, T y, T z)
void set_translation (const Point< T > &p)
void set_rotation (const RMatrix< T > &r)
void set_rotation (const Quaternion< T > &r)
bool io (FDM_Map map)
static const Base_Trans< T,
Rotation_Type > 		identity

Public Member Functions

Point< T > operator * (const Point< T > &rhs) const
QTrans< T > operator * (const QTrans< T > &rhs) const
QTrans< T > inverse (const QTrans< T > &a) const
Observers
void get_quaternion (T &qi, T &qj, T &qk, T &qs) const
RMatrix< T > get_rotation_matrix () const
T get_qi () const
T get_qj () const
T get_qk () const
T get_qs () const
void get_rpy_angles (T &r, T &p, T &y) const
Mutators
void set (T x, T y, T z, T qi, T qj, T qk, T qs)
void get (T &x, T &y, T &z, T &qi, T &qj, T &qk, T &qs)
void set_quaternion (T qi, T qj, T qk, T qs)
void set_rotation_matrix (RMatrix< T > rmat)
Operators
 operator Point () const
 operator Rotation_Type () const
Trans operator * (const Trans &t) const
Trans rotate_x (T angle) const
Trans rotate_y (T angle) const
Trans rotate_z (T angle) const
Trans rotate (T rx, T ry, T rz) const
Trans rotate (const Rotation_Type &r) const
Trans translate_x (T x) const
Trans translate_y (T y) const
Trans translate_z (T z) const
Trans translate (T x, T y=T(), T z=T()) const
Trans translate (const Point< T > &p) const
Trans transform (const Trans &t)
void set_identity ()
Observers
T get_x () const
T get_y () const
T get_z () const
void get_xyz (T &x, T &y, T &z) const
Rotation_Type get_rotation () const
const Point< T > & get_translation () const
T distance_from (const Trans &h) const
Trans relative_to (const Trans &h) const

Public Attributes

Point< T > _p
Rotation_Type _r

Friends

template<class Y>
std::ostream & operator<< (std::ostream &os, const QTrans< Y > &q)
template<class Y>
QTrans< Y > inverse (const QTrans< Y > &q)

Detailed Description

template<class T>
class claraty::QTrans< T >

Definition at line 46 of file qtrans.h.

Constructor & Destructor Documentation

template<class T>
claraty::QTrans< T >::QTrans ( T  x1,
T  y1,
T  z1,
T  qi,
T  qj,
T  qk,
T  qs 
) [inline]

Definition at line 55 of file qtrans.h.

00056     : Trans<T, Quaternion<T> >(Point<T>(x1,y1,z1),
00057                             Quaternion<T>(qi, qj, qk, qs)) {}

template<class T>
claraty::QTrans< T >::QTrans ( T  x1,
T  y1,
T  z1,
T  rx,
T  ry,
T  rz 
) [inline]

Definition at line 59 of file qtrans.h.

00060     : Trans<T, Quaternion<T> >(Point<T>(x1,y1,z1),
00061                                Quaternion<T>(RMatrix<T>(RPY, rx,ry,rz))) {}

template<class T>
claraty::QTrans< T >::QTrans ( const Trans< T, Quaternion< T > > &  t  )  [inline]

template<class T>
claraty::QTrans< T >::QTrans ( T  x1 = T(),
T  y1 = T(),
T  z1 = T() 
) [inline]

Definition at line 66 of file qtrans.h.

00067     : Trans<T, Quaternion<T> >(Point<T>(x1, y1, z1), Quaternion<T>()) {}

template<class T>
claraty::QTrans< T >::QTrans ( const Point< T > &  pt,
const Quaternion< T > &  quat 
) [inline]

Definition at line 69 of file qtrans.h.

00070     : Trans<T, Quaternion<T> > (Point<T>(pt), Quaternion<T>(quat)) {}

template<class T>
claraty::QTrans< T >::QTrans ( const Point< T > &  pt,
T  rx,
T  ry,
T  rz 
) [inline]

Definition at line 72 of file qtrans.h.

00073     : Trans<T, Quaternion<T> > (Point<T>(pt),
00074                                 Quaternion<T>(RMatrix<T>(RPY, rx,ry,rz))) {}

template<class T>
claraty::QTrans< T >::QTrans ( const Point< T > &  pt  )  [inline]

Definition at line 76 of file qtrans.h.

00077     : Trans<T, Quaternion<T> > (Point<T>(pt), Quaternion<T>()) {}

template<class T>
claraty::QTrans< T >::QTrans ( const Quaternion< T > &  quat  )  [inline]

Definition at line 79 of file qtrans.h.

00080     : Trans<T, Quaternion<T> > (Point<T>(), Quaternion<T>(quat)) {}

template<class T>
claraty::QTrans< T >::QTrans ( const Base_Trans< T, Quaternion< T > > &  t  )  [inline]

template<class T>
claraty::QTrans< T >::QTrans ( T  x1,
T  y1,
T  z1,
T  qi,
T  qj,
T  qk,
T  qs 
) [inline]

Definition at line 55 of file qtrans.h.

00056     : Trans<T, Quaternion<T> >(Point<T>(x1,y1,z1),
00057                             Quaternion<T>(qi, qj, qk, qs)) {}

template<class T>
claraty::QTrans< T >::QTrans ( T  x1,
T  y1,
T  z1,
T  rx,
T  ry,
T  rz 
) [inline]

Definition at line 59 of file qtrans.h.

00060     : Trans<T, Quaternion<T> >(Point<T>(x1,y1,z1),
00061                                Quaternion<T>(RMatrix<T>(RPY, rx,ry,rz))) {}

template<class T>
claraty::QTrans< T >::QTrans ( const Trans< T, Quaternion< T > > &  t  )  [inline]

template<class T>
claraty::QTrans< T >::QTrans ( T  x1 = T(),
T  y1 = T(),
T  z1 = T() 
) [inline]

Definition at line 66 of file qtrans.h.

00067     : Trans<T, Quaternion<T> >(Point<T>(x1, y1, z1), Quaternion<T>()) {}

template<class T>
claraty::QTrans< T >::QTrans ( const Point< T > &  pt,
const Quaternion< T > &  quat 
) [inline]

Definition at line 69 of file qtrans.h.

00070     : Trans<T, Quaternion<T> > (Point<T>(pt), Quaternion<T>(quat)) {}

template<class T>
claraty::QTrans< T >::QTrans ( const Point< T > &  pt,
T  rx,
T  ry,
T  rz 
) [inline]

Definition at line 72 of file qtrans.h.

00073     : Trans<T, Quaternion<T> > (Point<T>(pt),
00074                                 Quaternion<T>(RMatrix<T>(RPY, rx,ry,rz))) {}

template<class T>
claraty::QTrans< T >::QTrans ( const Point< T > &  pt  )  [inline]

Definition at line 76 of file qtrans.h.

00077     : Trans<T, Quaternion<T> > (Point<T>(pt), Quaternion<T>()) {}

template<class T>
claraty::QTrans< T >::QTrans ( const Quaternion< T > &  quat  )  [inline]

Definition at line 79 of file qtrans.h.

00080     : Trans<T, Quaternion<T> > (Point<T>(), Quaternion<T>(quat)) {}

template<class T>
claraty::QTrans< T >::QTrans ( const Base_Trans< T, Quaternion< T > > &  t  )  [inline]

Member Function Documentation

template<class T>
void claraty::QTrans< T >::get_quaternion ( T &  qi,
T &  qj,
T &  qk,
T &  qs 
) const [inline]

Definition at line 88 of file qtrans.h.

References claraty::Base_Trans< T, Rotation_Type >::_r.

00089   {qi = this->_r(0); qj = this->_r(1); qk = this->_r(2); qs = this->_r(3); }

template<class T>
RMatrix<T> claraty::QTrans< T >::get_rotation_matrix (  )  const [inline]

Definition at line 91 of file qtrans.h.

References claraty::Base_Trans< T, Rotation_Type >::_r.

00092   { return this->_r.quaternion_to_rotation_matrix();}

template<class T>
T claraty::QTrans< T >::get_qi (  )  const [inline]

Definition at line 94 of file qtrans.h.

References claraty::Base_Trans< T, Rotation_Type >::_r.

00094 { return this->_r(0);}

template<class T>
T claraty::QTrans< T >::get_qj (  )  const [inline]

Definition at line 95 of file qtrans.h.

References claraty::Base_Trans< T, Rotation_Type >::_r.

00095 { return this->_r(1);}

template<class T>
T claraty::QTrans< T >::get_qk (  )  const [inline]

Definition at line 96 of file qtrans.h.

References claraty::Base_Trans< T, Rotation_Type >::_r.

00096 { return this->_r(2);}

template<class T>
T claraty::QTrans< T >::get_qs (  )  const [inline]

Definition at line 97 of file qtrans.h.

References claraty::Base_Trans< T, Rotation_Type >::_r.

00097 { return this->_r(3);}

template<class T>
void claraty::QTrans< T >::get_rpy_angles ( T &  r,
T &  p,
T &  y 
) const [inline]

Definition at line 99 of file qtrans.h.

References claraty::Base_Trans< T, Rotation_Type >::_r.

00099 {this->_r.get_rpy_angles(r,p,y);}

template<class T>
void claraty::QTrans< T >::set ( T  x,
T  y,
T  z,
T  qi,
T  qj,
T  qk,
T  qs 
) [inline]

Definition at line 104 of file qtrans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p, and claraty::Base_Trans< T, Rotation_Type >::_r.

00105     {this->_p = Point<T>(x, y, z); this->_r = Quaternion<T>(qi, qj, qk, qs); }

template<class T>
void claraty::QTrans< T >::get ( T &  x,
T &  y,
T &  z,
T &  qi,
T &  qj,
T &  qk,
T &  qs 
) [inline]

Definition at line 107 of file qtrans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p, and claraty::Base_Trans< T, Rotation_Type >::_r.

00108   { x = this->_p.x(); 
00109     y = this->_p.y(); 
00110     z = this->_p.z();
00111     qi = this->_r(0); qj = this->_r(1); qk = this->_r(2); qs = this->_r(3); }

template<class T>
void claraty::QTrans< T >::set_quaternion ( T  qi,
T  qj,
T  qk,
T  qs 
) [inline]

Definition at line 113 of file qtrans.h.

References claraty::Base_Trans< T, Rotation_Type >::_r.

00114     {this->_r = Quaternion<T>(qi, qj, qk, qs);}

template<class T>
void claraty::QTrans< T >::set_rotation_matrix ( RMatrix< T >  rmat  )  [inline]

Definition at line 116 of file qtrans.h.

References claraty::Base_Trans< T, Rotation_Type >::_r.

00117   { this->_r = Quaternion<T>(rmat);}

template<class T>
Point< T > claraty::QTrans< T >::operator * ( const Point< T > &  rhs  )  const [inline]

Operator to multiply a Trans and a Point

Parameters:
[in] rhs Point to be multiplied
Returns:
Point resulting from operation

Reimplemented from claraty::Trans< T, Rotation_Type >.

Definition at line 192 of file qtrans.h.

00193 {
00194   return Trans< T, Quaternion <T> >::operator*(rhs);
00195 }

template<class T>
QTrans< T > claraty::QTrans< T >::operator * ( const QTrans< T > &  rhs  )  const [inline]

Definition at line 199 of file qtrans.h.

00200 {
00201   return Trans< T, Quaternion <T> >::operator*(rhs);
00202 }

template<class T>
QTrans<T> claraty::QTrans< T >::inverse ( const QTrans< T > &  a  )  const

template<class T, class Rotation_Type>
claraty::Trans< T, Rotation_Type >::operator Point (  )  const [inline, inherited]

Definition at line 96 of file trans.h.

00096 { return get_translation(); }

template<class T, class Rotation_Type>
claraty::Trans< T, Rotation_Type >::operator Rotation_Type (  )  const [inline, inherited]

Definition at line 97 of file trans.h.

References claraty::Trans< T, Rotation_Type >::get_rotation().

00097 { return get_rotation(); }

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template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::operator * ( const Trans< T, Rotation_Type > &  t  )  const [inline, inherited]

Operator to multiply a Trans and another Trans

Parameters:
[in] t Trans to be multiplied
Returns:
Trans resulting from the operation

Definition at line 271 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p, and claraty::Base_Trans< T, Rotation_Type >::_r.

00273 {
00274   Trans<T, Rotation_Type> result;
00275   result._r  = this->_r * t._r;
00276   result._p  = this->_r * t._p;
00277   result._p += this->_p;          
00278   return result;
00279 }

template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::rotate_x ( T  angle  )  const [inline, inherited]

Operator to rotate the Trans by the specified angle about the X-axis

Parameters:
[in] angle Angle to rotate by
Returns:
Trans resulting from the rotation

Definition at line 291 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p, claraty::Base_Trans< T, Rotation_Type >::_r, and claraty::RX.

Referenced by claraty::Transform_IO::_extract_rot_x_attributes().

00292 {
00293   Rotation_Type r = this->_r * Rotation_Type(RX, angle);
00294   return Trans<T, Rotation_Type>(this->_p, r);
00295 }

template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::rotate_y ( T  angle  )  const [inline, inherited]

Operator to rotate the Trans by the specified angle about the Y-axis

Parameters:
[in] angle Angle to rotate by
Returns:
Trans resulting from the rotation

Definition at line 307 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p, claraty::Base_Trans< T, Rotation_Type >::_r, and claraty::RY.

Referenced by claraty::Transform_IO::_extract_rot_y_attributes().

00308 {
00309   Rotation_Type r = this->_r * Rotation_Type(RY, angle);
00310   return Trans<T, Rotation_Type>(this->_p, r);
00311 }

template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::rotate_z ( T  angle  )  const [inline, inherited]

Operator to rotate the Trans by the specified angle about the Z-axis

Parameters:
[in] angle Angle to rotate by
Returns:
Trans resulting from the rotation

Definition at line 323 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p, claraty::Base_Trans< T, Rotation_Type >::_r, and claraty::RZ.

Referenced by claraty::Transform_IO::_extract_rot_z_attributes(), and claraty::ME_Joint::get_transform().

00324 {
00325   Rotation_Type r = this->_r * Rotation_Type(RZ, angle);
00326   return Trans<T, Rotation_Type>(this->_p, r);
00327 }

template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::rotate ( T  rx,
T  ry,
T  rz 
) const [inline, inherited]

Operator to rotate the Trans by the specified RPY angles

Parameters:
[in] rx Roll angle to rotate by
[in] ry Pitch angle to rotate by
[in] rz Yaw angle to rotate by
Returns:
Trans resulting from the rotation

Definition at line 341 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p, claraty::Base_Trans< T, Rotation_Type >::_r, and claraty::RPY.

Referenced by claraty::Transform_IO::_extract_three_angle_set_attributes().

00343 {
00344   Rotation_Type r = this->_r * Rotation_Type(RPY, rx, ry, rz);
00345   return Trans<T, Rotation_Type>(this->_p, r);
00346 }

template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::rotate ( const Rotation_Type &  r  )  const [inline, inherited]

Operator to rotate the Trans by the rotation specified in the Rotation_Type

Parameters:
[in] r Rotation_Type to rotate by
Returns:
Trans resulting from the rotation

Definition at line 359 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p, and claraty::Base_Trans< T, Rotation_Type >::_r.

00361 {
00362   Rotation_Type rOut = this->_r * r;
00363   return Trans<T, Rotation_Type>(this->_p, rOut);
00364 }

template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::translate_x ( T  x  )  const [inline, inherited]

Operator to translate by the specified distance along the X-axis

Parameters:
[in] x Distance to translate
Returns:
Trans resulting from the translation

Definition at line 376 of file trans.h.

References claraty::Trans< T, Rotation_Type >::translate().

00377 {
00378   return translate(Point<T>(x, 0.0, 0.0));
00379 }

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template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::translate_y ( T  y  )  const [inline, inherited]

Operator to translate by the specified distance along the Y-axis

Parameters:
[in] y Distance to translate
Returns:
Trans resulting from the translation

Definition at line 391 of file trans.h.

References claraty::Trans< T, Rotation_Type >::translate().

00392 {
00393   return translate(Point<T>(0.0, y, 0.0));
00394 }

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template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::translate_z ( T  z  )  const [inline, inherited]

Operator to translate by the specified distance along the Z-axis

Parameters:
[in] z Distance to translate
Returns:
Trans resulting from the translation

Definition at line 406 of file trans.h.

References claraty::Trans< T, Rotation_Type >::translate().

Referenced by claraty::Wheel_Model::get_ground_contact(), and claraty::ME_Joint::get_transform().

00407 {
00408   return translate(Point<T>(0.0, 0.0, z));
00409 }

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template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::translate ( T  x,
T  y = T(),
T  z = T() 
) const [inline, inherited]

Operator to translate by the specified distance along the X, Y, Z axes respectively.

Parameters:
[in] x Distance to translate along the X-axis
[in] y Distance to translate along the Y-axis
[in] z Distance to translate along the Z-axis
Returns:
Trans resulting from the translation

Definition at line 425 of file trans.h.

Referenced by claraty::Trans< T, Rotation_Type >::translate_x(), claraty::Trans< T, Rotation_Type >::translate_y(), and claraty::Trans< T, Rotation_Type >::translate_z().

00427 {
00428   return translate(Point<T>(x, y, z));
00429 }

template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::translate ( const Point< T > &  p  )  const [inline, inherited]

Operator to translate by the distance specified in the Point

Parameters:
[in] p Point to translate
Returns:
Trans resulting from the translation

Definition at line 442 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p, and claraty::Base_Trans< T, Rotation_Type >::_r.

00443 {
00444   Trans<T, Rotation_Type> result(*this);
00445   result._p =  this->_r*p + this->_p;
00446   return result;
00447 }

template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::transform ( const Trans< T, Rotation_Type > &  t  )  [inherited]

Transform the current transform by the arg. transform

Parameters:
[in] t Trans to use for transform
Returns:
Trans identity

Definition at line 741 of file trans.h.

00742 {
00743   return *this * t;
00744 }

template<class T, class Rotation_Type>
void claraty::Trans< T, Rotation_Type >::set_identity (  )  [inherited]

Convert this Trans to identity

Returns:
Trans identity

Definition at line 726 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p, and claraty::Base_Trans< T, Rotation_Type >::_r.

Referenced by claraty::ME_Body_IO::extract_from_parse_tree().

00727 {
00728   this->_p(0) = 0.0; this->_p(1) = 0.0; this->_p(2) = 0.0;
00729   this->_r.set_identity();
00730 }

template<class T, class Rotation_Type>
T claraty::Trans< T, Rotation_Type >::get_x (  )  const [inline, inherited]

Get the translation component along the X-axis

Returns:
Distance along the specified axis

Definition at line 458 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p.

00459 {
00460   return this->_p(0);
00461 }

template<class T, class Rotation_Type>
T claraty::Trans< T, Rotation_Type >::get_y (  )  const [inline, inherited]

Get the translation component along the Y-axis

Returns:
Distance along the specified axis

Definition at line 471 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p.

00472 {
00473   return this->_p(1);
00474 }

template<class T, class Rotation_Type>
T claraty::Trans< T, Rotation_Type >::get_z (  )  const [inline, inherited]

Get the translation component along the Z-axis

Returns:
Distance along the specified axis

Definition at line 486 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p.

00487 {
00488   return this->_p(2);
00489 }

template<class T, class Rotation_Type>
void claraty::Trans< T, Rotation_Type >::get_xyz ( T &  x,
T &  y,
T &  z 
) const [inline, inherited]

Get the translation components along the X,Y,Z-axes

Parameters:
[out] x Value of the translation along the X-axis
[out] y Value of the translation along the Y-axis
[out] z Value of the translation along the Z-axis

Definition at line 504 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p.

00505 {
00506   x = this->_p(0);
00507   y = this->_p(1);
00508   z = this->_p(2);
00509 }

template<class T, class Rotation_Type>
Rotation_Type claraty::Trans< T, Rotation_Type >::get_rotation (  )  const [inline, inherited]

Get the rotation component

Returns:
Rotation_Type containing the rotation

Definition at line 522 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_r.

Referenced by claraty::Frame_IO::convert_to_internal_format(), claraty::ME_Body_IO::extract_from_parse_tree(), claraty::Wheel_Locomotor_Model::map_mechanism_model_to_wheel_locomotor_model(), and claraty::Trans< T, Rotation_Type >::operator Rotation_Type().

00523 {
00524   return this->_r;
00525 }

template<class T, class Rotation_Type>
const Point< T > & claraty::Trans< T, Rotation_Type >::get_translation (  )  const [inline, inherited]

Get the translation component

Returns:
Point containing the translation

Definition at line 538 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p.

Referenced by claraty::N_2DOF_Planar_Arm::initialize(), and claraty::Trans< T, claraty::RMatrix< T > >::operator Point().

00539 {
00540   return this->_p;
00541 }

template<class T, class Rotation_Type>
T claraty::Trans< T, Rotation_Type >::distance_from ( const Trans< T, Rotation_Type > &  h  )  const [inline, inherited]

Return the T distance of this QTrans from the specified QTrans

Parameters:
[in] h Trans to be measured from
Returns:
Distance

Definition at line 696 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p.

Referenced by claraty::N_2DOF_Planar_Arm::initialize().

00697 {
00698   return this->_p.distance_from(h._p);
00699 }

template<class T, class Rotation_Type>
Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::relative_to ( const Trans< T, Rotation_Type > &  q  )  const [inline, inherited]

Return the Trans that specifies the relative position & orientation of this Trans from the specified QTrans.

Definition at line 710 of file trans.h.

References claraty::Trans< T, Rotation_Type >::inverse.

Referenced by claraty::Frame::get_relative_transform().

00712 {
00713   return inverse(q) * (*this);
00714 }

template<class T, class Rotation_Type>
void claraty::Trans< T, Rotation_Type >::set_x ( T  x  )  [inline, inherited]

Set the X-axis component of the translation

Parameters:
[in] x X-Axis value to set to

Definition at line 569 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p.

Referenced by claraty::Wheel_Locomotor_Model::convert_length_heading_direction_to_location().

00570 {
00571   this->_p(0) = x;
00572 }

template<class T, class Rotation_Type>
void claraty::Trans< T, Rotation_Type >::set_y ( T  y  )  [inline, inherited]

Set the Y-axis component of the translation

Parameters:
[in] y Y-axis value to set to

Definition at line 584 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p.

Referenced by claraty::Wheel_Locomotor_Model::convert_length_heading_direction_to_location().

00585 {
00586   this->_p(1) = y;
00587 }

template<class T, class Rotation_Type>
void claraty::Trans< T, Rotation_Type >::set_z ( T  z  )  [inline, inherited]

Set the Z-axis component of the translation

Parameters:
[in] z Z-axis component to set to

Definition at line 599 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p.

00600 {
00601   this->_p(2) = z;
00602 }

template<class T, class Rotation_Type>
void claraty::Trans< T, Rotation_Type >::set_xy ( T  x,
T  y 
) [inline, inherited]

Set the X,Y-axis component of the translation

Parameters:
[in] x X-axis value to set to
[in] y Y-axis value to set to

Definition at line 615 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p.

00616 {
00617   this->_p(0) = x; this->_p(1) = y;
00618 }

template<class T, class Rotation_Type>
void claraty::Trans< T, Rotation_Type >::set_xyz ( T  x,
T  y,
T  z 
) [inline, inherited]

Set the X,Y,Z-axis component of the translation

Parameters:
[in] x X-axis value to set to
[in] y Y-axis value to set to
[in] z Z-axis value to set to

Definition at line 632 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p.

Referenced by claraty::Transform_IO::_extract_position_attributes(), claraty::Transform_IO::convert_DH_to_transform(), and claraty::HTrans< T >::set().

00633 {
00634   this->_p(0) = x; this->_p(1) = y; this->_p(2) = z;
00635 }

template<class T, class Rotation_Type>
void claraty::Trans< T, Rotation_Type >::set_translation ( const Point< T > &  p  )  [inline, inherited]

Set the translation

Parameters:
[in] p Point containing the translation to set to

Definition at line 553 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p.

Referenced by claraty::Frame_IO::convert_to_internal_format(), and claraty::ME_Body::rotate_center_of_mass().

00554 {
00555   this->_p = p;
00556 }

template<class T, class Rotation_Type>
void claraty::Trans< T, Rotation_Type >::set_rotation ( const RMatrix< T > &  r  )  [inline, inherited]

Set the rotation component

Parameters:
[in] r Rotation_Type to set to

Definition at line 648 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_r.

Referenced by claraty::Transform_IO::convert_DH_to_transform(), claraty::Wheel_Locomotor_Model::convert_length_heading_direction_to_location(), claraty::Frame_IO::convert_to_internal_format(), and claraty::ME_Body::rotate_center_of_mass().

00649 {
00650   this->_r = r;
00651 }

template<class T, class Rotation_Type>
void claraty::Trans< T, Rotation_Type >::set_rotation ( const Quaternion< T > &  r  )  [inline, inherited]

Set the rotation component

Parameters:
[in] r Rotation_Type to set to

Definition at line 662 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_r.

00663 {
00664   this->_r = r;
00665 }

template<class T, class Rotation_Type>
bool claraty::Trans< T, Rotation_Type >::io ( FDM_Map  map  )  [inline, inherited]

Definition at line 675 of file trans.h.

References claraty::Base_Trans< T, Rotation_Type >::_p, and claraty::Base_Trans< T, Rotation_Type >::_r.

00676 {
00677   bool ok;
00678 
00679   ok = this->_p.io(map);
00680   ok &= this->_r.io(map);
00681 
00682   return ok;
00683 }

Friends And Related Function Documentation

template<class T>
template<class Y>
std::ostream& operator<< ( std::ostream &  os,
const QTrans< Y > &  q 
) [friend]

template<class T>
template<class Y>
QTrans<Y> inverse ( const QTrans< Y > &  q  )  [friend]

Member Data Documentation

template<class T, class Rotation_Type>
const Base_Trans< T, Rotation_Type > claraty::Trans< T, Rotation_Type >::identity [static, inherited]

Definition at line 149 of file trans.h.

Referenced by claraty::Frame_IO::extract_from_parse_tree(), claraty::ME_Body::get_absolute_transform(), claraty::Mechanism_Model::get_body_absolute_transform(), claraty::ME_Body::get_relative_transform(), and claraty::ME_Joint::get_transform().

template<class T, class Rotation_Type>
Point<T> claraty::Base_Trans< T, Rotation_Type >::_p [inherited]

Definition at line 50 of file trans.h.

Referenced by claraty::Trans< T, Rotation_Type >::distance_from(), claraty::QTrans< T >::get(), claraty::Trans< T, Rotation_Type >::get_translation(), claraty::Trans< T, Rotation_Type >::get_x(), claraty::Trans< T, Rotation_Type >::get_xyz(), claraty::Trans< T, Rotation_Type >::get_y(), claraty::Trans< T, Rotation_Type >::get_z(), claraty::inverse(), claraty::Trans< T, Rotation_Type >::io(), claraty::Trans< T, Rotation_Type >::operator *(), claraty::operator<<(), claraty::Trans< T, Rotation_Type >::rotate(), claraty::Trans< T, Rotation_Type >::rotate_x(), claraty::Trans< T, Rotation_Type >::rotate_y(), claraty::Trans< T, Rotation_Type >::rotate_z(), claraty::QTrans< T >::set(), claraty::Trans< T, Rotation_Type >::set_identity(), claraty::Trans< T, Rotation_Type >::set_translation(), claraty::Trans< T, Rotation_Type >::set_x(), claraty::Trans< T, Rotation_Type >::set_xy(), claraty::Trans< T, Rotation_Type >::set_xyz(), claraty::Trans< T, Rotation_Type >::set_y(), claraty::Trans< T, Rotation_Type >::set_z(), and claraty::Trans< T, Rotation_Type >::translate().

template<class T, class Rotation_Type>
Rotation_Type claraty::Base_Trans< T, Rotation_Type >::_r [inherited]

Definition at line 51 of file trans.h.

Referenced by claraty::QTrans< T >::get(), claraty::HTrans< T >::get_pitch(), claraty::QTrans< T >::get_qi(), claraty::QTrans< T >::get_qj(), claraty::QTrans< T >::get_qk(), claraty::QTrans< T >::get_qs(), claraty::QTrans< T >::get_quaternion(), claraty::HTrans< T >::get_roll(), claraty::Trans< T, Rotation_Type >::get_rotation(), claraty::QTrans< T >::get_rotation_matrix(), claraty::QTrans< T >::get_rpy_angles(), claraty::HTrans< T >::get_rpy_angles(), claraty::HTrans< T >::get_yaw(), claraty::inverse(), claraty::Trans< T, Rotation_Type >::io(), claraty::Trans< T, Rotation_Type >::operator *(), claraty::operator<<(), claraty::Trans< T, Rotation_Type >::rotate(), claraty::Trans< T, Rotation_Type >::rotate_x(), claraty::Trans< T, Rotation_Type >::rotate_y(), claraty::Trans< T, Rotation_Type >::rotate_z(), claraty::QTrans< T >::set(), claraty::HTrans< T >::set(), claraty::HTrans< T >::set_absolute_heading(), claraty::HTrans< T >::set_heading(), claraty::Trans< T, Rotation_Type >::set_identity(), claraty::QTrans< T >::set_quaternion(), claraty::Trans< T, Rotation_Type >::set_rotation(), claraty::QTrans< T >::set_rotation_matrix(), claraty::HTrans< T >::set_rpy_angles(), and claraty::Trans< T, Rotation_Type >::translate().

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