xvsdk  3.2.0
Public Member Functions | Static Public Member Functions | Protected Attributes | List of all members
xv::details::Transform_< F > Class Template Reference

#include <xv-types.h>

Public Member Functions

 Transform_ (Vector3< F > const &t, Matrix3< F > const &r={})
 
Transform_operator*= (Transform_ const &q)
 Composition operator for transformations.
 
Vector3< F > const & translation () const
 Get the translation part of the transformation. More...
 
void setTranslation (Vector3< F > const &v)
 Set the translation part of the transformation.
 
void setTranslation (F const *v)
 Set the translation part of the transformation using pointer to 3D array.
 
Matrix3< F > const & rotation () const
 Get the rotation matrix part of the transformation. More...
 
void setRotation (Matrix3< F > const &v)
 Get the rotation matrix part of the transformation.
 
void setRotation (F const *v)
 Set the rotation matrix (row major 3x3) part of the transformation using pointer to array of size 9.
 
x () const
 X coordinate of the translation.
 
y () const
 Y coordinate of the translation.
 
z () const
 Z coordinate of the translation.
 
Transform_< F > inverse () const
 Compute the inverse transformation. More...
 

Static Public Member Functions

static Transform_ Identity ()
 

Protected Attributes

Vector3< F > m_translation
 
Matrix3< F > m_rotation
 

Detailed Description

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.

Member Function Documentation

◆ inverse()

template<class F = double>
Transform_<F> xv::details::Transform_< F >::inverse ( ) const

Compute the inverse transformation.

Returns
Return the inverse transformation

◆ rotation()

template<class F = double>
Matrix3<F> const& xv::details::Transform_< F >::rotation ( ) const
inline

Get the rotation matrix part of the transformation.

Returns
row major 3x3 matrix

◆ translation()

template<class F = double>
Vector3<F> const& xv::details::Transform_< F >::translation ( ) const
inline

Get the translation part of the transformation.

Returns
[x,y,z] vector

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