#include <Transform3D.h>

Inheritance diagram for RDGeom::Transform3D:

Public Member Functions
	Transform3D ()
	Constructor.

void	setToIdentity ()

void	TransformPoint (Point3D &pt) const

void	SetTranslation (const Point3D &move)
	Set the translation vector.

void	SetRotation (double angle, AxisType axis)
	set the rotation matrix

void	SetRotation (double angle, const Point3D &axis)
	set the rotation matrix

void	SetRotation (double cosT, double sinT, const Point3D &axis)

void	SetRotationFromQuaternion (double quaternion[4])
	Set the rotation matrix from a quaternion.

void	Reflect ()
	Reflect the rotation.

Public Member Functions inherited from RDNumeric::SquareMatrix< double >
	SquareMatrix ()
	brief Square matrix of size N

	SquareMatrix (unsigned int N)

	SquareMatrix (unsigned int N, double val)

	SquareMatrix (unsigned int N, typename Matrix< double >::DATA_SPTR data)

SquareMatrix< double > &	operator*= (double scale) override
	Multiplication by a scalar.

virtual SquareMatrix< double > &	operator*= (const SquareMatrix< double > &B)
	In place matrix multiplication.

virtual SquareMatrix< double > &	transposeInplace ()
	In place matrix transpose.

Public Member Functions inherited from RDNumeric::Matrix< TYPE >
	Matrix (unsigned int nRows, unsigned int nCols)
	Initialize with a size.

	Matrix (unsigned int nRows, unsigned int nCols, TYPE val)
	Initialize with a size and default value.

	Matrix (unsigned int nRows, unsigned int nCols, DATA_SPTR data)
	Initialize from a pointer.

	Matrix (const Matrix< TYPE > &other)
	copy constructor

virtual	~Matrix ()

unsigned int	numRows () const
	returns the number of rows

unsigned int	numCols () const
	returns the number of columns

unsigned int	getDataSize () const

virtual TYPE	getVal (unsigned int i, unsigned int j) const
	returns a particular element of the matrix

virtual void	setVal (unsigned int i, unsigned int j, TYPE val)
	sets a particular element of the matrix

virtual void	getRow (unsigned int i, Vector< TYPE > &row) const
	returns a copy of a row of the matrix

virtual void	getCol (unsigned int i, Vector< TYPE > &col) const
	returns a copy of a column of the matrix

TYPE *	getData ()
	returns a pointer to our data array

const TYPE *	getData () const
	returns a const pointer to our data array

Matrix< TYPE > &	assign (const Matrix< TYPE > &other)
	Copy operator.

virtual Matrix< TYPE > &	operator+= (const Matrix< TYPE > &other)
	Matrix addition.

virtual Matrix< TYPE > &	operator-= (const Matrix< TYPE > &other)
	Matrix subtraction.

virtual Matrix< TYPE > &	operator*= (TYPE scale)
	Multiplication by a scalar.

virtual Matrix< TYPE > &	operator/= (TYPE scale)
	division by a scalar

virtual Matrix< TYPE > &	transpose (Matrix< TYPE > &transpose) const
	copies the transpose of this Matrix into another, returns the result

Additional Inherited Members
Public Types inherited from RDNumeric::Matrix< TYPE >
typedef boost::shared_array< TYPE >	DATA_SPTR

Protected Member Functions inherited from RDNumeric::Matrix< TYPE >
	Matrix ()

Protected Attributes inherited from RDNumeric::Matrix< TYPE >
unsigned int	d_nRows {0}

unsigned int	d_nCols {0}

unsigned int	d_dataSize {0}

DATA_SPTR	d_data

Detailed Description

Definition at line 22 of file Transform3D.h.

Constructor & Destructor Documentation

◆ Transform3D()

RDGeom::Transform3D::Transform3D ( )

inline

Constructor.

Initialize to an identity matrix transformation. This is a 4x4 matrix that includes the rotation and translation parts see Foley's "Introduction to Computer Graphics" for the representation

Operator *= and = are provided by the parent class square matrix. Operator *= needs some explanation, since the order matters. This transform gets set to the combination other and the current state of this transform If this_old and this_new are the states of this object before and after this function we have this_new(point) = this_old(other(point))

Definition at line 41 of file Transform3D.h.

References RDGeom::DIM_3D.

Member Function Documentation

◆ Reflect()

void RDGeom::Transform3D::Reflect ( )

Reflect the rotation.

◆ SetRotation() [1/3]

void RDGeom::Transform3D::SetRotation	(	double	angle,
		AxisType	axis
	)

set the rotation matrix

The rotation matrix is set to rotation by the specified angle about the specified axis

Referenced by RDGeom::compute14Dist3D().

◆ SetRotation() [2/3]

void RDGeom::Transform3D::SetRotation	(	double	angle,
		const Point3D &	axis
	)

set the rotation matrix

The rotation matrix is set to rotation by the specified angle about an arbitrary axis. Note: if the axis is not a unit vector scaling will also occur. This can be ensured by a call to Point3D::normalize() prior to calling this method

◆ SetRotation() [3/3]

void RDGeom::Transform3D::SetRotation	(	double	cosT,
		double	sinT,
		const Point3D &	axis
	)

◆ SetRotationFromQuaternion()

void RDGeom::Transform3D::SetRotationFromQuaternion ( double quaternion[4] )

Set the rotation matrix from a quaternion.

◆ setToIdentity()

void RDGeom::Transform3D::setToIdentity ( )

◆ SetTranslation()

void RDGeom::Transform3D::SetTranslation ( const Point3D & move )

Set the translation vector.

◆ TransformPoint()

void RDGeom::Transform3D::TransformPoint ( Point3D & pt ) const