RobWorkProject  24.8.23-
Transform2D< T > Class Template Reference

## Public Types

typedef T value_type
Value type.

## Public Member Functions

Transform2D ()
Default Constructor. More...

Transform2D (const Vector2D< T > &d, const Rotation2D< T > &R)
Constructs a homogeneous transform. More...

T & operator() (std::size_t row, std::size_t col)
Returns matrix element reference. More...

const T & operator() (std::size_t row, std::size_t col) const
Returns const matrix element reference. More...

bool operator== (const Transform2D< T > &rhs) const
Comparison operator. More...

bool operator!= (const Transform2D< T > &rhs) const
Comparison operator. More...

const Transform2D operator* (const Transform2D &bTc) const
Calculates $$\robabx{a}{c}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}} \robabx{b}{c}{\mathbf{T}}$$ where this object is $$\robabx{a}{b}{\mathbf{T}}$$. More...

const Vector2D< T > operator* (const Vector2D< T > &bP) const
Calculates $$\robax{a}{\mathbf{p}} = \robabx{a}{b}{\mathbf{T}} \robax{b}{\mathbf{p}}$$ thus transforming point $$\mathbf{p}$$ from frame $$b$$ to frame $$a$$. This object is $$\robabx{a}{c}{\mathbf{T}}$$. More...

Rotation2D< T > & R ()
Gets the rotation part $$\mathbf{R}$$ from $$\mathbf{T}$$. More...

const Rotation2D< T > & R () const
Gets the rotation part $$\mathbf{R}$$ from $$\mathbf{T}$$. More...

Vector2D< T > & P ()
Gets the position part $$\mathbf{d}$$ from $$\mathbf{T}$$. More...

const Vector2D< T > & P () const
Gets the position part $$\mathbf{d}$$ from $$\mathbf{T}$$. More...

## Static Public Member Functions

static const Transform2Didentity ()
Constructs the identity transform. More...

## Friends

std::ostream & operator<< (std::ostream &os, const Transform2D< T > &t)
Outputs transform to stream. More...

## Related Functions

(Note that these are not member functions.)

template<class T >
const Transform2D< T > inverse (const Transform2D< T > &aTb)
Calculates $$\robabx{b}{a}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}}^{-1}$$. More...

template<>
void write (const rw::math::Transform2D< double > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)

template<>
void write (const rw::math::Transform2D< float > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)

template<>
void read (rw::math::Transform2D< double > &sobject, rw::common::InputArchive &iarchive, const std::string &id)

template<>
void read (rw::math::Transform2D< float > &sobject, rw::common::InputArchive &iarchive, const std::string &id)

template<class Archive , class T >
void serialize (Archive &archive, rw::math::Transform2D< T > &transform, const unsigned int version)
Boost serialization. More...

## ◆ Transform2D() [1/2]

 Transform2D ( )
inline

Default Constructor.

Initializes with 0 translation and Identity matrix as rotation

## ◆ Transform2D() [2/2]

 Transform2D ( const Vector2D< T > & d, const Rotation2D< T > & R )
inline

Constructs a homogeneous transform.

Parameters
 d [in] $$\mathbf{d}$$ A 2x1 translation vector R [in] $$\mathbf{R}$$ A 2x2 rotation matrix

## ◆ identity()

 static const Transform2D& identity ( )
inlinestatic

Constructs the identity transform.

Returns
the identity transform

$$\mathbf{T} = \left[ \begin{array}{ccc} 1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 \\ \end{array} \right]$$

## ◆ operator!=()

 bool operator!= ( const Transform2D< T > & rhs ) const
inline

Comparison operator.

The comparison operator makes a element wise comparison. Returns true if any of the elements are different.

Parameters
 rhs [in] Transform to compare with
Returns
True if not equal.

## ◆ operator()() [1/2]

 T& operator() ( std::size_t row, std::size_t col )
inline

Returns matrix element reference.

Parameters
 row [in] row, row must be $$< 2$$ col [in] col, col must be $$< 3$$
Returns
reference to matrix element

## ◆ operator()() [2/2]

 const T& operator() ( std::size_t row, std::size_t col ) const
inline

Returns const matrix element reference.

Parameters
 row [in] row, row must be $$< 2$$ col [in] col, col must be $$< 3$$
Returns
const reference to matrix element

## ◆ operator*() [1/2]

 const Transform2D operator* ( const Transform2D< T > & bTc ) const
inline

Calculates $$\robabx{a}{c}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}} \robabx{b}{c}{\mathbf{T}}$$ where this object is $$\robabx{a}{b}{\mathbf{T}}$$.

Parameters
 bTc [in] $$\robabx{b}{c}{\mathbf{T}}$$
Returns
$$\robabx{a}{c}{\mathbf{T}}$$

$$\robabx{a}{c}{\mathbf{T}} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}}\robabx{b}{c}{\mathbf{R}} & \robabx{a}{b}{\mathbf{d}} + \robabx{a}{b}{\mathbf{R}}\robabx{b}{c}{\mathbf{d}} \\ \begin{array}{cc} 0 & 0 \end{array} & 1 \end{array} \right]$$

## ◆ operator*() [2/2]

 const Vector2D operator* ( const Vector2D< T > & bP ) const
inline

Calculates $$\robax{a}{\mathbf{p}} = \robabx{a}{b}{\mathbf{T}} \robax{b}{\mathbf{p}}$$ thus transforming point $$\mathbf{p}$$ from frame $$b$$ to frame $$a$$. This object is $$\robabx{a}{c}{\mathbf{T}}$$.

Parameters
 bP [in] $$\robax{b}{\mathbf{p}}$$
Returns
$$\robax{a}{\mathbf{p}}$$

## ◆ operator==()

 bool operator== ( const Transform2D< T > & rhs ) const
inline

Comparison operator.

The comparison operator makes a element wise comparison. Returns true only if all elements are equal.

Parameters
 rhs [in] Transform to compare with
Returns
True if equal.

## ◆ P() [1/2]

 Vector2D& P ( )
inline

Gets the position part $$\mathbf{d}$$ from $$\mathbf{T}$$.

Returns
$$\mathbf{d}$$

## ◆ P() [2/2]

 const Vector2D& P ( ) const
inline

Gets the position part $$\mathbf{d}$$ from $$\mathbf{T}$$.

Returns
$$\mathbf{d}$$

## ◆ R() [1/2]

 Rotation2D& R ( )
inline

Gets the rotation part $$\mathbf{R}$$ from $$\mathbf{T}$$.

Returns
$$\mathbf{R}$$

## ◆ R() [2/2]

 const Rotation2D& R ( ) const
inline

Gets the rotation part $$\mathbf{R}$$ from $$\mathbf{T}$$.

Returns
$$\mathbf{R}$$

## ◆ inverse()

 const Transform2D< T > inverse ( const Transform2D< T > & aTb )
related

Calculates $$\robabx{b}{a}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}}^{-1}$$.

Parameters
 aTb [in] the transform matrix $$\robabx{a}{b}{\mathbf{T}}$$
Returns
$$\robabx{b}{a}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}}^{-1}$$

$$\robabx{a}{b}{\mathbf{T}}^{-1} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}}^{T} & - \robabx{a}{b}{\mathbf{R}}^{T} \robabx{a}{b}{\mathbf{d}} \\ \begin{array}{cc}0 & 0\end{array} & 1 \end{array} \right]$$

## ◆ operator<<

 std::ostream& operator<< ( std::ostream & os, const Transform2D< T > & t )
friend

Outputs transform to stream.

Parameters
 os [in/out] an output stream t [in] the transform that is to be sent to the output stream
Returns
os

 void read ( rw::math::Transform2D< double > & sobject, rw::common::InputArchive & iarchive, const std::string & id )
related

Parameters
 sobject [out] the object in which the data should be streamed into iarchive [in] the InputArchive from which to read data. id [in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

 void read ( rw::math::Transform2D< float > & sobject, rw::common::InputArchive & iarchive, const std::string & id )
related

Parameters
 sobject [out] the object in which the data should be streamed into iarchive [in] the InputArchive from which to read data. id [in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

## ◆ serialize()

 void serialize ( Archive & archive, rw::math::Transform2D< T > & transform, const unsigned int version )
related

Boost serialization.

Parameters
 archive [in] the boost archive to read from or write to. transform [in/out] the transformation to read/write. version [in] class version (currently version 0).

## ◆ write() [1/2]

 void write ( const rw::math::Transform2D< double > & sobject, rw::common::OutputArchive & oarchive, const std::string & id )
related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters
 sobject [in] the object from which the data should be streamed. oarchive [out] the OutputArchive in which data should be written. id [in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

## ◆ write() [2/2]

 void write ( const rw::math::Transform2D< float > & sobject, rw::common::OutputArchive & oarchive, const std::string & id )
related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters
 sobject [in] the object from which the data should be streamed. oarchive [out] the OutputArchive in which data should be written. id [in] The id of the serialized sobject.
Note
the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

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