ProjectionMatrix Class Reference

projection matrix More...

#include <ProjectionMatrix.hpp>

Public Types
typedef rw::core::Ptr< ProjectionMatrix >	Ptr

Public Member Functions
	ProjectionMatrix ()
	constructor
const Eigen::Matrix< double, 4, 4 >	e () const
	get the boost matrix corresponding to this projection
bool	isPerspectiveProjection ()
	test if this is a perspective projection
bool	isOrtographicProjection ()
	test if this is a ortographic projection
void	setOrtho (double left, double right, double bottom, double top, double zNear, double zFar)
	set the projection matrix to an ortographic projection by defining the box with length to all sides (left, right, bottom, top, near and far) More...
bool	getOrtho (double &left, double &right, double &bottom, double &top, double &zNear, double &zFar) const
	get ortographic projection. Onli valid if isOrtographicProjection is true
void	setFrustum (double left, double right, double bottom, double top, double zNear, double zFar)
	set the projection matrix to the viewing frustum More...
bool	getFrustum (double &left, double &right, double &bottom, double &top, double &zNear, double &zFar) const
	get the projection matrix to the viewing frustum More...
void	setPerspective (double fovy, double aspectRatio, double zNear, double zFar)
	set the projection matrix to perspective projection More...
void	setPerspective (double fovy, double width, double height, double zNear, double zFar)
	set the projection matrix to perspective projection More...
bool	getPerspective (double &fovy, double &aspectRatio, double &zNear, double &zFar) const
	get the projection matrix to perspective projection More...
template<class T >
void	toOpenGLMatrix (T arr[16])
	convert the projection matrix to an OpenGL compatible matrix More...
std::pair< double, double >	getClipPlanes () const

Static Public Member Functions
static ProjectionMatrix	makePerspective (double fovy, double aspectRatio, double zNear, double zFar)
	creates a projection matrix with a perspective projection More...
static ProjectionMatrix	makePerspective (double fovy, double width, double height, double zNear, double zFar)
	creates a projection matrix with a perspective projection More...
static ProjectionMatrix	makeOrtho (double left, double right, double bottom, double top, double zNear, double zFar)
	creates a projection matrix with a orthographic projection More...

Detailed Description

projection matrix

Member Function Documentation

getClipPlanes()

std::pair<double, double> getClipPlanes

(

)

const

get near and far clipping plane

Returns

getFrustum()

bool getFrustum	(	double &	left,
		double &	right,
		double &	bottom,
		double &	top,
		double &	zNear,
		double &	zFar
	)		const

get the projection matrix to the viewing frustum

Parameters

left	[out] distance in m near cutting plane from center to left edge
right	[out] distance in m near cutting plane from center to right edge
bottom	[out] distance in m near cutting plane from center to bottom edge
top	[out] distance in m near cutting plane from center to top edge
zNear	[out] distance in m along z-axis to near cutting plane
zFar	[out] distance in m along z-axis to far cutting plane

getPerspective()

bool getPerspective	(	double &	fovy,
		double &	aspectRatio,
		double &	zNear,
		double &	zFar
	)		const

get the projection matrix to perspective projection

Parameters

fovy	[in] vertical field of view [degrees]
aspectRatio	[in] aspect ratio between width and height of image
zNear	[in] distance to near cutting plane
zFar	[in] distance to far cutting plane

Returns

is it succesfull

makeOrtho()

static ProjectionMatrix makeOrtho ( double  left, double  right, double  bottom, double  top, double  zNear, double  zFar  )

static

creates a projection matrix with a orthographic projection

Parameters

left
right
bottom
top
zNear
zFar

Returns

new ProjectionMatrix.

makePerspective() [1/2]

static ProjectionMatrix makePerspective ( double  fovy, double  aspectRatio, double  zNear, double  zFar  )

static

creates a projection matrix with a perspective projection

Parameters

fovy
aspectRatio
zNear
zFar

Returns

new ProjectionMatrix.

makePerspective() [2/2]

static ProjectionMatrix makePerspective ( double  fovy, double  width, double  height, double  zNear, double  zFar  )

static

creates a projection matrix with a perspective projection

Parameters

fovy	[in]
width	[in] of image
height	[in] of image
zNear	[in]
zFar	[in]

Returns

new ProjectionMatrix.

setFrustum()

void setFrustum	(	double	left,
		double	right,
		double	bottom,
		double	top,
		double	zNear,
		double	zFar
	)

set the projection matrix to the viewing frustum

Parameters

left	[in] distance in m near cutting plane from center to left edge
right	[in] distance in m near cutting plane from center to right edge
bottom	[in] distance in m near cutting plane from center to bottom edge
top	[in] distance in m near cutting plane from center to top edge
zNear	[in] distance in m along z-axis to near cutting plane
zFar	[in] distance in m along z-axis to far cutting plane

setOrtho()

void setOrtho	(	double	left,
		double	right,
		double	bottom,
		double	top,
		double	zNear,
		double	zFar
	)

set the projection matrix to an ortographic projection by defining the box with length to all sides (left, right, bottom, top, near and far)

Parameters

left	[in] length in m to left edge of image
right	[in] length in m to right edge of image
bottom	[in] length in m to bottom edge of image
top	[in] length in m to top edge of image
zNear	[in] length in m to near clipping plane
zFar	[in] length in m to far clipping plane

setPerspective() [1/2]

void setPerspective	(	double	fovy,
		double	aspectRatio,
		double	zNear,
		double	zFar
	)

set the projection matrix to perspective projection

Parameters

fovy	[in] vertical field of view [degrees]
aspectRatio	[in] aspect ratio between width and height of image
zNear	[in] distance to near cutting plane
zFar	[in] distance to far cutting plane

setPerspective() [2/2]

void setPerspective ( double  fovy, double  width, double  height, double  zNear, double  zFar  )

inline

set the projection matrix to perspective projection

Parameters

fovy	[in] vertical field of view [degrees]
width	[in] width of image
height	[in] height of image
zNear	[in] distance to near cutting plane
zFar	[in] distance to far cutting plane

toOpenGLMatrix()

void toOpenGLMatrix ( T  arr[16] )

inline

convert the projection matrix to an OpenGL compatible matrix

Parameters

arr	[out] array of 16*sizeof(T) with the opengl matrix

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

• ProjectionMatrix.hpp