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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: