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LogRotationAndTranslation Class Reference

#include <geometry.h>

Public Member Functions

 LogRotationAndTranslation (const Matrix4D &m)
 
 LogRotationAndTranslation (const Matrix4D &m, const LogRotationAndTranslation &lg)
 
LogRotationAndTranslation operator- (void) const
 
LogRotationAndTranslation operator* (double scale) const
 
LogRotationAndTranslationoperator*= (double scale)
 
LogRotationAndTranslation operator/ (double scale) const
 
LogRotationAndTranslationoperator/= (double scale)
 
LogRotationAndTranslation operator+ (const LogRotationAndTranslation &q) const
 
LogRotationAndTranslationoperator+= (const LogRotationAndTranslation &q)
 
LogRotationAndTranslation operator- (const LogRotationAndTranslation &q) const
 
LogRotationAndTranslationoperator-= (const LogRotationAndTranslation &q)
 

Public Attributes

Matrix3D skewSymmetric
 
Point3D translate
 

Detailed Description

This class represents a transformation by the skew-symmetric log of the rotation and the translation

Constructor & Destructor Documentation

LogRotationAndTranslation::LogRotationAndTranslation ( const Matrix4D m)

This constructor sets the log of the rotation matrix and translation vector from the transformation matrix

LogRotationAndTranslation::LogRotationAndTranslation ( const Matrix4D m,
const LogRotationAndTranslation lg 
)

Because the Logarithm of a rotation is not unique, the following method sets the Logarithm so that it is closest to the input ones

Member Function Documentation

LogRotationAndTranslation LogRotationAndTranslation::operator* ( double  scale) const

This method scales the transformation parameters.

LogRotationAndTranslation & LogRotationAndTranslation::operator*= ( double  scale)

This method scales the current transformation parameters by a constant factor.

LogRotationAndTranslation LogRotationAndTranslation::operator+ ( const LogRotationAndTranslation q) const

This method adds two sets of transformation parameters and returns their sum.

LogRotationAndTranslation & LogRotationAndTranslation::operator+= ( const LogRotationAndTranslation q)

This method adds a set of transformation parameters to the current transformation parameters.

LogRotationAndTranslation LogRotationAndTranslation::operator- ( void  ) const

This method returns the negative of the transformation parameters

LogRotationAndTranslation LogRotationAndTranslation::operator- ( const LogRotationAndTranslation q) const

This method subtracts two sets of transformation parameters and returns their difference.

LogRotationAndTranslation & LogRotationAndTranslation::operator-= ( const LogRotationAndTranslation q)

This method subtracts a set of transformation parameters from the current transformation parameters.

LogRotationAndTranslation LogRotationAndTranslation::operator/ ( double  scale) const

This method divides the coefficients of a the transformation parameters by a constant factor.

LogRotationAndTranslation & LogRotationAndTranslation::operator/= ( double  scale)

This method divides the coefficients of the current transformation parameters by a constant factor.

Member Data Documentation

Matrix3D LogRotationAndTranslation::skewSymmetric

The rotation

Point3D LogRotationAndTranslation::translate

The translation vector


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