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| Transform_ (Vector3< F > const &t, Matrix3< F > const &r={}) |
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Transform_ & | operator*= (Transform_ const &q) |
| Composition operator for transformations.
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Vector3< F > const & | translation () const |
| Get the translation part of the transformation. More...
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void | setTranslation (Vector3< F > const &v) |
| Set the translation part of the transformation.
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void | setTranslation (F const *v) |
| Set the translation part of the transformation using pointer to 3D array.
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Matrix3< F > const & | rotation () const |
| Get the rotation matrix part of the transformation. More...
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void | setRotation (Matrix3< F > const &v) |
| Get the rotation matrix part of the transformation.
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void | setRotation (F const *v) |
| Set the rotation matrix (row major 3x3) part of the transformation using pointer to array of size 9.
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F | x () const |
| X coordinate of the translation.
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F | y () const |
| Y coordinate of the translation.
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F | z () const |
| Z coordinate of the translation.
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Transform_< F > | inverse () const |
| Compute the inverse transformation. More...
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template<class F = double>
class xv::details::Transform_< F >
Pose of an object in a parent frame coordinate, it correspond to the transformation from object (current) frame coordinates to parent frame coordinates.