Public Types
typedef cgv::math::fvec< T, 3 >	vec_type
	type of 3d vector

typedef cgv::math::fvec< T, 4 >	hvec_type
	type of homogenous vector

typedef cgv::math::quaternion< T >	quat_type
	type of quaternions

typedef cgv::math::fmat< T, 3, 3 >	mat_type
	type of 3x3 matrix

typedef cgv::math::fmat< T, 4, 4 >	hmat_type
	type of 4x4 matrix

Public Member Functions
	rigid_transform ()
	construct identity

	rigid_transform (const quat_type &_q, const vec_type &_t)
	construct from quaternion and translation vector to the transformation that first rotates and then translates

void	transform_vector (vec_type &v) const
	apply transformation to vector

void	transform_point (vec_type &p) const
	apply transformation to point

rigid_transform< T >	operator* (const rigid_transform< T > &M) const
	concatenate two rigid transformations

rigid_transform< T > &	operator+= (const rigid_transform< T > &T)
	multiply quaternion and translation with scalar

rigid_transform< T > &	operator*= (T s)
	multiply quaternion and translation with scalar

rigid_transform< T >	operator* (T s) const
	multiply quaternion and translation with scalar

rigid_transform< T >	inverse () const
	return the inverse transformation

vec_type	get_transformed_vector (const vec_type &v) const
	apply transformation to vector

vec_type	get_transformed_point (const vec_type &p) const
	apply transformation to point

const vec_type &	get_translation () const
	return the translational part

vec_type &	ref_translation ()
	return the translational part

const quat_type &	get_quaternion () const
	return the rotation as quaternion

quat_type &	ref_quaternion ()
	return the rotation as quaternion

hmat_type	get_hmat () const
	convert transformation to homogeneous transformation

hmat_type	get_transposed_hmat () const
	convert transformation to transpose of homogeneous transformation

Protected Attributes
quat_type	q
	store transformation as quaternion

vec_type	t
	and translation vector

Detailed Description

implementation of a rigid body transformation with a quaternion and a translation vector.

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

Public Types