RobWorkProject
24.8.23-
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this class is a interpolatable Transform3D, consisting of a Vecor3D and a Quaternion. It is implemented to be very Interconvertable with a Transform3D, and allow operations souch as Transform * scalar and Transform + Transform. More...
#include <Transform3DVector.hpp>
Public Types | |
typedef Eigen::Matrix< T, 7, 1 > | type |
typedef rw::core::Ptr< Transform3DVector< T > > | Ptr |
typedef T | value_type |
Public Member Functions | |
Transform3DVector () | |
default constructor | |
Transform3DVector (const rw::math::Vector3D< T > &vec, const rw::math::Quaternion< T > &rot) | |
Constuct a Transformation matrix as a Vector. More... | |
Transform3DVector (const rw::math::Vector3D< T > &vec, const rw::math::Rotation3DVector< T > &rot) | |
Constuct a Transformation matrix as a Vector. More... | |
Transform3DVector (const rw::math::Transform3D< T > &t3d) | |
Constuct a Transform3DVector from a Transform3D. More... | |
Transform3DVector (const type &vec) | |
Constuct a Transform3DVector from a EigenVector. More... | |
~Transform3DVector () | |
destructor | |
Transform3DVector< T > | operator+ (const rw::math::Vector3D< T > &rhs) const |
add a Vector3D to the position of the transform More... | |
Transform3DVector< T > | operator- (const rw::math::Vector3D< T > &rhs) const |
subtract a Vector3D from the position of the transform More... | |
rw::math::Vector3D< T > | operator* (const rw::math::Vector3D< T > &rhs) const |
Matrix vector multiplication with Vector3D. Same as Transform3D<> * Vector3D<>;. More... | |
Transform3DVector< T > | operator+ (const rw::math::Quaternion< T > &rhs) const |
add a Quaternion to the rotation of the transform More... | |
Transform3DVector< T > | operator- (const rw::math::Quaternion< T > &rhs) const |
subtract a Quaternion from the rotation of the transform More... | |
Transform3DVector< T > | operator/ (const rw::math::Quaternion< T > &rhs) const |
element wise devide a Quaternion with the Quaternion rotation of the transform More... | |
Transform3DVector< T > | operator* (const rw::math::Quaternion< T > &rhs) const |
element wise multiply a Quaternion with the Quaternion rotation of the transform More... | |
Transform3DVector< T > | operator+ (const Transform3DVector< T > &rhs) const |
element wise add two Transform3DVectors More... | |
Transform3DVector< T > | operator- (const Transform3DVector< T > &rhs) const |
element wise subtract two Transform3DVectors More... | |
Transform3DVector< T > | operator* (const T &rhs) const |
Scalar multiplication. More... | |
Transform3DVector< T > | operator+ (const T &rhs) const |
Scalar addition. More... | |
Transform3DVector< T > | operator- (const T &rhs) const |
Scalar subtraction. More... | |
Transform3DVector< T > | operator/ (const T &rhs) const |
Scalar devision. More... | |
T & | operator() (size_t i) |
acces operator More... | |
T | operator() (size_t i) const |
acces operator More... | |
T & | operator[] (size_t i) |
acces operator More... | |
T | operator[] (size_t i) const |
acces operator More... | |
size_t | size () const |
get the size. Index 0-2 Vector, 3-6 Quaternion More... | |
rw::math::Vector3D< T > | toVector3D () const |
get the position Vector of the transform More... | |
rw::math::Quaternion< T > | toQuaternion () const |
get the Rotation of the transform More... | |
rw::math::EAA< T > | toEAA () const |
convert the rotation part to EAA More... | |
rw::math::Transform3D< T > | toTransform3D () const |
Returns the corresponding Trandforma3D matrix. More... | |
Eigen::Matrix< T, 7, 1 > & | e () |
get the underling eigen type More... | |
Transform3DVector< T > & | operator= (const Transform3DVector< T > &rhs) |
copy the transform More... | |
Transform3DVector< T > & | operator+= (const Transform3DVector< T > &rhs) |
add to the transform More... | |
Transform3DVector< T > & | operator-= (const Transform3DVector< T > &rhs) |
subtract from the transform More... | |
Transform3DVector< T > & | operator= (const rw::math::Quaternion< T > &rhs) |
Override the Roation of the transform. More... | |
Transform3DVector< T > & | operator+= (const rw::math::Quaternion< T > &rhs) |
add to the Roation of the transform More... | |
Transform3DVector< T > & | operator-= (const rw::math::Quaternion< T > &rhs) |
add to the Roation of the transform More... | |
Transform3DVector< T > & | operator= (const rw::math::Transform3D< T > &rhs) |
convert and copy the transform More... | |
Transform3DVector< T > & | operator= (const rw::math::Vector3D< T > &rhs) |
Override the position of the transform. More... | |
Transform3DVector< T > & | operator+= (const rw::math::Vector3D< T > &rhs) |
add to the position of the transform More... | |
Transform3DVector< T > & | operator-= (const rw::math::Vector3D< T > &rhs) |
subtract from the position of the transform More... | |
Transform3DVector< T > & | operator= (const type &rhs) |
copy the transform from an eigen vector More... | |
operator Transform3D< T > () const | |
implicit conversion to transform | |
Friends | |
Transform3DVector< T > | operator* (const T &lhs, const Transform3DVector< T > &rhs) |
Scalar multiplication. More... | |
Transform3DVector< T > | operator+ (const T &lhs, const Transform3DVector< T > &rhs) |
Scalar addition. More... | |
Transform3DVector< T > | operator- (const T &lhs, const Transform3DVector< T > &rhs) |
Scalar subtraction. More... | |
Transform3DVector< T > | operator/ (const T &lhs, const Transform3DVector< T > &rhs) |
Scalar devision. More... | |
std::ostream & | operator<< (std::ostream &os, const Transform3DVector< T > &t) |
this class is a interpolatable Transform3D, consisting of a Vecor3D and a Quaternion. It is implemented to be very Interconvertable with a Transform3D, and allow operations souch as Transform * scalar and Transform + Transform.
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Constuct a Transformation matrix as a Vector.
vec | [in] the vector of the transform |
rot | [in] the rotation of the transform |
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Constuct a Transformation matrix as a Vector.
vec | [in] the vector of the transform |
rot | [in] the rotation of the transform |
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Constuct a Transform3DVector from a Transform3D.
t3d | [in] Transform3D |
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Constuct a Transform3DVector from a EigenVector.
vec | [in] Transform3D |
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get the underling eigen type
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element wise multiply a Quaternion with the Quaternion rotation of the transform
rhs | [in] the right hand side value |
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Matrix vector multiplication with Vector3D. Same as Transform3D<> * Vector3D<>;.
rhs | [in] the right hand side value |
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Scalar multiplication.
rhs | [in] the scalar to multiply with |
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add a Quaternion to the rotation of the transform
rhs | [in] the right hand side value |
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add a Vector3D to the position of the transform
rhs | [in] the right hand side value |
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Scalar addition.
rhs | [in] the scalar to add |
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element wise add two Transform3DVectors
rhs | [in] the Transform3D vector to be added with |
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add to the Roation of the transform
rhs | the rotation to be added |
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add to the position of the transform
rhs | the new position |
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add to the transform
rhs | the transform to be added |
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subtract a Quaternion from the rotation of the transform
rhs | [in] the right hand side value |
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subtract a Vector3D from the position of the transform
rhs | [in] the right hand side value |
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Scalar subtraction.
rhs | [in] the scalar to subtract |
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element wise subtract two Transform3DVectors
rhs | [in] the Transform3D vector to be subtracted with |
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add to the Roation of the transform
rhs | the rotation to be added |
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subtract from the position of the transform
rhs | the new position |
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subtract from the transform
rhs | the transform to be subtracted |
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element wise devide a Quaternion with the Quaternion rotation of the transform
rhs | [in] the right hand side value |
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Scalar devision.
rhs | [in] the scalar to devide with |
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Override the Roation of the transform.
rhs | the new rotation |
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convert and copy the transform
rhs | the transform to copy |
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Override the position of the transform.
rhs | the new position |
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copy the transform
rhs | the transform to copy |
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copy the transform from an eigen vector
rhs | the transform to copy |
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get the size. Index 0-2 Vector, 3-6 Quaternion
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get the Rotation of the transform
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Returns the corresponding Trandforma3D matrix.
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get the position Vector of the transform
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Scalar multiplication.
lhs | [in] the scalar to multiply with |
rhs | [in] the Transform3DVector being multiplied with a scalar |
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Scalar addition.
lhs | [in] the scalar to subtraction |
rhs | [in] the Transform3DVector being subtracted from |
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Scalar subtraction.
lhs | [in] the scalar to subtract |
rhs | [in] the Transform3DVector being subtracted from |
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friend |
Scalar devision.
lhs | [in] the scalar to devide with |
rhs | [in] the Transform3DVector being devided |