albaTransform Class Reference

#include <albaTransform.h>

Inheritance diagram for albaTransform:

Collaboration diagram for albaTransform:

Classes
struct	mmuAffineParts
struct	mmuQuat

Public Types
enum	{   CUSTOM = 0 , GLOBAL , PARENT , LOCAL ,   VIEW }
enum	mmuQuatPart { X , Y , Z , W }
typedef mmuQuat	HVect
typedef double	HMatrix[4][4]

Public Member Functions
	albaTransform ()
	~albaTransform ()
	albaTransform (const albaTransform &)
	albaTypeMacro (albaTransform, albaTransformBase)
virtual void	SetMatrix (const albaMatrix &input)
void	SetMatrixPointer (albaMatrix *matrix)
double	PolarDecomp (albaMatrix &Q, albaMatrix &S, double translation[3])
void	Identity ()
void	Invert ()
void	GetOrientation (double orientation[3])
void	GetOrientation (float orient[3])
void	GetOrientationWXYZ (double wxyz[4])
void	GetOrientationWXYZ (float wxyz[3])
void	GetPosition (double position[3])
void	GetPosition (float position[3])
void	SetPosition (double position[3])
void	SetPosition (double x, double y, double z)
void	Translate (double translation[3], int premultiply)
void	Translate (double x, double y, double z, int premultiply)
void	RotateWXYZ (double angle, double x, double y, double z, int premultiply)
void	RotateWXYZ (double angle, double rot[3], int premultiply)
void	RotateX (double angle, int premultiply)
void	RotateY (double angle, int premultiply)
void	RotateZ (double angle, int premultiply)
void	Concatenate (const albaMatrix &matrix, int premultiply)
void	Concatenate (albaTransformBase *trans, int premultiply)
void	SetOrientation (double orientation[3])
void	SetOrientation (double rx, double ry, double rz)
void	GetScale (double scale[3])
void	GetScale (float scale[3])
void	Scale (double scalex, double scaley, double scalez, int premultiply)
void	GetVersor (int axis, double versor[3])
void	GetVersor (int axis, float versor[3])
void	CopyRotation (const albaMatrix &source)
void	CopyTranslation (const albaMatrix &source)
int	MatrixToAttitudeVector (const albaMatrix &matrix, double attitude_vector[3])
int	MatrixToEulerCardanicAngle (const albaMatrix &matrix, int i, int j, int k, double euler_cardan[3], double tentative_euler_cardan_first, double tentative_euler_cardan_second, double tentative_euler_cardan_third)
int	MatrixTommuQuaternion (const albaMatrix &matrix, double quaternion[4])
int	QuaternionToMatrix (double quaternion[4], albaMatrix &matrix)
int	HelicalAxisToMatrix (double helical_axis[3], double angle, albaMatrix &matrix)
int	AttitudeVectorToMatrix (double attitude_vector[3], albaMatrix &matrix)
int	EulerCardanicAngleToMatrix (double euler_cardan[3], int i, int j, int k, albaMatrix &matrix)
int	MatrixToHelicalAxis (const albaMatrix &matrix, double helical_axis[3], double point[3], double &phi, double &t, int intersect)
Public Member Functions inherited from albaTransformBase
	albaTransformBase ()
	~albaTransformBase ()
	albaTransformBase (const albaTransformBase &)
	albaAbstractTypeMacro (albaTransformBase, albaReferenceCounted)
virtual void	Print (std::ostream &os, const int indent=0) const
virtual const albaMatrix &	GetMatrix ()
albaMatrix *	GetMatrixPointer ()
void	TransformPoint (const float in[3], float out[3])
void	TransformPoint (const double in[3], double out[3])
void	TransformNormalAtPoint (const float point[3], const float in[3], float out[3])
void	TransformNormalAtPoint (const double point[3], const double in[3], double out[3])
void	TransformVectorAtPoint (const float point[3], const float in[3], float out[3])
void	TransformVectorAtPoint (const double point[3], const double in[3], double out[3])
virtual void	Update ()
void	Modified ()
virtual void	InternalTransformPoint (const double in[3], double out[3])
virtual void	InternalTransformPoint (const float in[3], float out[3])
virtual unsigned long	GetMTime ()
virtual unsigned long	GetUpdateTime ()
void	SetTimeStamp (albaTimeStamp t)
albaTimeStamp	GetTimeStamp ()
Public Member Functions inherited from albaReferenceCounted
	albaReferenceCounted ()
virtual	~albaReferenceCounted ()
	albaAbstractTypeMacro (albaReferenceCounted, albaObject)
virtual void	Delete ()
void	Register (void *obj)
virtual void	UnRegister (void *obj)
int	GetReferenceCount ()
void	SetReferenceCount (int)
Public Member Functions inherited from albaObject
	albaObject ()
virtual	~albaObject ()
virtual void	Delete ()
virtual const char *	GetTypeName () const
virtual bool	IsA (const char *type_name) const
virtual bool	IsA (const albaTypeID &type_id) const
virtual albaObject *	NewObjectInstance () const =0
virtual const albaTypeID &	GetTypeId () const
virtual void	Print (std::ostream &os, const int indent=0) const
	albaObject (const albaObject &c)
Public Member Functions inherited from albaEventBroadcaster
	albaEventBroadcaster (void *owner=NULL)
virtual	~albaEventBroadcaster ()
	albaEventBroadcaster (const albaEventBroadcaster &c)
void	AddObserver (albaObserver *obj)
void	AddObserver (albaObserver &obj)
albaObserverCallback *	AddObserverCallback (void(*f)(void *sender, albaID eid, void *clientdata, void *calldata))
bool	RemoveObserver (albaObserver *obj)
void	RemoveAllObservers ()
bool	IsObserver (albaObserver *obj)
bool	HasObservers ()
void	GetObservers (std::vector< albaObserver * > &olist)
void	InvokeEvent (albaEventBase &e)
void	InvokeEvent (albaEventBase *e)
void	InvokeEvent (void *sender, albaID id=ID_NO_EVENT, void *data=NULL)
void	SetChannel (albaID ch)
albaID	GetChannel ()
virtual void	SetListener (albaObserver *o)
Public Member Functions inherited from albaEventSender
	albaEventSender ()
virtual void	SetListener (albaObserver *o)
virtual albaObserver *	GetListener ()
virtual bool	HasListener ()
virtual void	InvokeEvent (albaEventBase &e)
virtual void	InvokeEvent (albaEventBase *e)
virtual void	InvokeEvent (void *sender, albaID id=ID_NO_EVENT, void *data=NULL)

Static Public Member Functions
static double	PolarDecomp (const albaMatrix &M, albaMatrix &Q, albaMatrix &S, double translation[3])
static void	GetOrientation (const albaMatrix &in_matrix, double orientation[3])
static void	GetOrientation (const albaMatrix &in_matrix, float orientation[3])
static void	GetOrientationWXYZ (const albaMatrix &in_matrix, double wxyz[4])
static void	GetPosition (const albaMatrix &matrix, double position[3])
static void	GetPosition (const albaMatrix &matrix, float position[3])
static void	SetPosition (albaMatrix &matrix, double position[3])
static void	SetPosition (albaMatrix &matrix, double x, double y, double z)
static void	Translate (albaMatrix &matrix, double translation[3], int premultiply)
static void	Translate (albaMatrix &matrix, double x, double y, double z, int premultiply)
static void	RotateWXYZ (const albaMatrix &source, albaMatrix &target, double angle, double x, double y, double z, int premultiply)
static void	RotateX (albaMatrix &matrix, double angle, int premultiply)
static void	RotateY (albaMatrix &matrix, double angle, int premultiply)
static void	RotateZ (albaMatrix &matrix, double angle, int premultiply)
static void	SetOrientation (albaMatrix &matrix, double orientation[3])
static void	SetOrientation (albaMatrix &matrix, double rx, double ry, double rz)
static void	GetScale (const albaMatrix &matrix, double scale[3])
static void	Scale (albaMatrix &matrix, double scalex, double scaley, double scalez, int premultiply)
static void	SetVersor (int axis, double versor[3], albaMatrix &matrix)
static void	GetVersor (int axis, const albaMatrix &matrix, double versor[3])
static void	GetVersor (int axis, const albaMatrix &matrix, float versor[3])
static void	CopyRotation (const albaMatrix &source, albaMatrix &target)
static void	CopyTranslation (const albaMatrix &source, albaMatrix &target)
static void	AddVectors (double inV0[3], double inV1[3], double outSum[3])
static void	BuildVector (double *p1, double *p2, double *out_vector)
static void	BuildVector (double coeff, const double *inVector, double *outVector, int refSysType=LOCAL, int localAxis=albaInteractorConstraint::X)
static double	ProjectVectorOnAxis (const double *in_vector, const double *in_axis, double *out_projection=NULL)
static double	ProjectVectorOnPlane (const double *in_vector, const double *in_plane_normal, double *out_projection=NULL)
static void	FindPerpendicularVersors (double inVersorN[3], double outVersorP[3], double outVersorQ[3])
static void	MultiplyVectorByScalar (double s, double *vin, double *vout)
static double	PolarDecomp (HMatrix M, HMatrix Q, HMatrix S)
static void	DecompAffine (HMatrix A, mmuAffineParts *parts)
static HVect	SpectDecomp (HMatrix S, HMatrix U)
static mmuQuat	QuaternionFromMatrix (HMatrix mat)
static void	InvertAffine (mmuAffineParts *parts, mmuAffineParts *inverse)
static mmuQuat	Snuggle (mmuQuat q, HVect *k)
Static Public Member Functions inherited from albaObject
static const char *	GetStaticTypeName ()
static bool	IsStaticType (const char *type_name)
static bool	IsStaticType (const albaTypeID &type_id)
static const albaTypeID &	GetStaticTypeId ()
static albaObject *	SafeDownCast (albaObject *o)

Protected Member Functions
virtual void	InternalUpdate ()
virtual void	InternalUpdate ()=0

Additional Inherited Members
Protected Types inherited from albaEventBroadcaster
typedef std::list< albaObserver * >	albaObserversList
Protected Attributes inherited from albaTransformBase
albaAutoPointer< albaMatrix >	m_Matrix
albaMTime	m_MTime
albaMTime	m_UpdateTime
albaMutexLock	m_UpdateMutex
albaTimeStamp	m_TimeStamp
Protected Attributes inherited from albaReferenceCounted
int	m_ReferenceCount
Protected Attributes inherited from albaObject
bool	m_HeapFlag
Protected Attributes inherited from albaEventBroadcaster
albaObserversList	m_Observers
albaID	m_Channel
Protected Attributes inherited from albaEventSender
albaObserver *	m_Listener

Detailed Description

albaTransform - class for homogeneous transformations.

albaTransform provides functionalities for homogeneous transformations, including an algorithm for polar decomposition, used to keep the 3x3 sub matrix orthogonal. The idea of this class is to represent by itself a transformation, obtained by changing the an input transformation for its original coordinate system to a target coordinate system. Coordinate systems are by default the world coords system. Reference systems can be expressed as a albaTransformBase.

See also

albaTransformBase

Todo:

• Update test for albaTransform to test functions to transform angles

Definition at line 52 of file albaTransform.h.

Member Typedef Documentation

HVect

typedef mmuQuat albaTransform::HVect

Homogeneous 3D vector.

Definition at line 308 of file albaTransform.h.

HMatrix

typedef double albaTransform::HMatrix[4][4]

Definition at line 318 of file albaTransform.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
CUSTOM	auxiliar ref sys
GLOBAL
PARENT
LOCAL	the local ref sys of the VME
VIEW	the view ref sys

Definition at line 66 of file albaTransform.h.

mmuQuatPart

enum albaTransform::mmuQuatPart

Enumerator
X
Y
Z
W

Definition at line 305 of file albaTransform.h.

Constructor & Destructor Documentation

albaTransform() [1/2]

albaTransform::albaTransform

(

)

~albaTransform()

albaTransform::~albaTransform

(

)

albaTransform() [2/2]

albaTransform::albaTransform

(

const albaTransform &

)

copy constructor

Member Function Documentation

albaTypeMacro()

albaTransform::albaTypeMacro	(	albaTransform	,
		albaTransformBase
	)

RTTI stuff.

SetMatrix()

virtual void albaTransform::SetMatrix ( const albaMatrix &  input )

inlinevirtual

Directly set the internal Matrix.

It's overwritten by Update if Input or InputFrame !=NULL This function makes a copy of the input matrix.

Definition at line 84 of file albaTransform.h.

References albaMatrix::GetTimeStamp(), albaTransformBase::Modified(), and albaTransformBase::SetTimeStamp().

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SetMatrixPointer()

void albaTransform::SetMatrixPointer

(

albaMatrix *

matrix

)

set the internal matrix pointer to the given matrix.

Do not use this if you don't know what you are doing

PolarDecomp() [1/3]

static double albaTransform::PolarDecomp ( const albaMatrix &  M, albaMatrix &  Q, albaMatrix &  S, double  translation[3]  )

static

Polar Decomposition of matrix M in Q * S.

PolarDecomp() [2/3]

double albaTransform::PolarDecomp ( albaMatrix &  Q, albaMatrix &  S, double  translation[3]  )

inline

Definition at line 92 of file albaTransform.h.

References albaTransformBase::GetMatrix(), and PolarDecomp().

Referenced by PolarDecomp().

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Identity()

void albaTransform::Identity

(

)

set internal matrix to Identity

Invert()

void albaTransform::Invert

(

)

Invert internal matrix.

GetOrientation() [1/4]

static void albaTransform::GetOrientation ( const albaMatrix &  in_matrix, double  orientation[3]  )

static

Get the x, y, z orientation angles from the transformation matrix as an array of three floating point values.

Copied from vtkTransform::GetOrientation()

GetOrientation() [2/4]

static void albaTransform::GetOrientation ( const albaMatrix &  in_matrix, float  orientation[3]  )

static

GetOrientation() [3/4]

void albaTransform::GetOrientation ( double  orientation[3] )

inline

Definition at line 105 of file albaTransform.h.

References albaTransformBase::GetMatrix(), and GetOrientation().

Referenced by GetOrientation().

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GetOrientation() [4/4]

void albaTransform::GetOrientation ( float  orient[3] )

inline

Definition at line 106 of file albaTransform.h.

GetOrientationWXYZ() [1/3]

static void albaTransform::GetOrientationWXYZ ( const albaMatrix &  in_matrix, double  wxyz[4]  )

static

Return the wxyz angle+axis representing the current orientation.

Copied from vtkTransform::GetVTKOrientationWXYZ()

GetOrientationWXYZ() [2/3]

void albaTransform::GetOrientationWXYZ ( double  wxyz[4] )

inline

Definition at line 116 of file albaTransform.h.

References albaTransformBase::GetMatrix().

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GetOrientationWXYZ() [3/3]

void albaTransform::GetOrientationWXYZ ( float  wxyz[3] )

inline

Definition at line 118 of file albaTransform.h.

GetPosition() [1/4]

static void albaTransform::GetPosition ( const albaMatrix &  matrix, double  position[3]  )

static

Return the position from the current transformation matrix as an array of three floating point numbers.

This is simply returning the translation component of the 4x4 matrix. Copied from vtkTransform::GetPosition()

GetPosition() [2/4]

static void albaTransform::GetPosition ( const albaMatrix &  matrix, float  position[3]  )

static

GetPosition() [3/4]

void albaTransform::GetPosition ( double  position[3] )

inline

Definition at line 131 of file albaTransform.h.

References albaTransformBase::GetMatrix(), and GetPosition().

Referenced by GetPosition().

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GetPosition() [4/4]

void albaTransform::GetPosition ( float  position[3] )

inline

Definition at line 132 of file albaTransform.h.

SetPosition() [1/4]

static void albaTransform::SetPosition ( albaMatrix &  matrix, double  position[3]  )

static

This function set the position column of the matrix.

Notice, the non static functions work on the internal matrix and can be used in conjuction with SetMatrix, but if a pipeline is defined (input, input_frame or target_frame) it's overwritten whenever the Update() is perfromed.

SetPosition() [2/4]

void albaTransform::SetPosition ( double  position[3] )

inline

Definition at line 143 of file albaTransform.h.

References SetPosition().

Referenced by SetPosition().

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SetPosition() [3/4]

void albaTransform::SetPosition ( double  x, double  y, double  z  )

inline

Definition at line 144 of file albaTransform.h.

References SetPosition().

Referenced by SetPosition().

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SetPosition() [4/4]

static void albaTransform::SetPosition ( albaMatrix &  matrix, double  x, double  y, double  z  )

inlinestatic

Definition at line 145 of file albaTransform.h.

Translate() [1/4]

static void albaTransform::Translate ( albaMatrix &  matrix, double  translation[3], int  premultiply  )

static

This function set the translation column of the matrix by adding the transaltion provided as argument.

Notice, the non static functions work on the internal matrix and can be used in conjuction with SetMatrix, but if a pipeline is defined (input, input_frame or target_frame) it's overwritten whenever the Update() is perfromed.

Translate() [2/4]

void albaTransform::Translate ( double  translation[3], int  premultiply  )

inline

Definition at line 156 of file albaTransform.h.

References Translate().

Referenced by Translate().

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Translate() [3/4]

void albaTransform::Translate ( double  x, double  y, double  z, int  premultiply  )

inline

Definition at line 157 of file albaTransform.h.

References Translate().

Referenced by Translate().

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Translate() [4/4]

static void albaTransform::Translate ( albaMatrix &  matrix, double  x, double  y, double  z, int  premultiply  )

inlinestatic

Definition at line 158 of file albaTransform.h.

RotateWXYZ() [1/3]

static void albaTransform::RotateWXYZ ( const albaMatrix &  source, albaMatrix &  target, double  angle, double  x, double  y, double  z, int  premultiply  )

static

This function rotate the matrix around the specified axis.

Notice, the non static functions work on the internal matrix and can be used in conjuction with SetMatrix, but if a pipeline is defined (input, input_frame or target_frame) it's overwritten whenever the Update() is perfromed.

Referenced by RotateX(), RotateY(), and RotateZ().

RotateWXYZ() [2/3]

void albaTransform::RotateWXYZ ( double  angle, double  x, double  y, double  z, int  premultiply  )

inline

Definition at line 168 of file albaTransform.h.

References RotateWXYZ().

Referenced by RotateWXYZ().

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RotateWXYZ() [3/3]

void albaTransform::RotateWXYZ ( double  angle, double  rot[3], int  premultiply  )

inline

Definition at line 169 of file albaTransform.h.

References RotateWXYZ().

Referenced by RotateWXYZ().

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RotateX() [1/2]

static void albaTransform::RotateX ( albaMatrix &  matrix, double  angle, int  premultiply  )

inlinestatic

This functions rotate the internal matrix around the specified axis.

It can be used in conjuction with SetMatrix, but if a pipeline is defined (input, input_frame or target_frame) it's overwritten whenever the Update() is performed.

Definition at line 176 of file albaTransform.h.

References RotateWXYZ().

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RotateY() [1/2]

static void albaTransform::RotateY ( albaMatrix &  matrix, double  angle, int  premultiply  )

inlinestatic

Definition at line 177 of file albaTransform.h.

References RotateWXYZ().

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RotateZ() [1/2]

static void albaTransform::RotateZ ( albaMatrix &  matrix, double  angle, int  premultiply  )

inlinestatic

Definition at line 178 of file albaTransform.h.

References RotateWXYZ().

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RotateX() [2/2]

void albaTransform::RotateX ( double  angle, int  premultiply  )

inline

Definition at line 179 of file albaTransform.h.

References RotateX().

Referenced by RotateX().

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RotateY() [2/2]

void albaTransform::RotateY ( double  angle, int  premultiply  )

inline

Definition at line 180 of file albaTransform.h.

References RotateY().

Referenced by RotateY().

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RotateZ() [2/2]

void albaTransform::RotateZ ( double  angle, int  premultiply  )

inline

Definition at line 181 of file albaTransform.h.

References RotateZ().

Referenced by RotateZ().

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Concatenate() [1/2]

void albaTransform::Concatenate	(	const albaMatrix &	matrix,
		int	premultiply
	)

Pre or Post multiply the internal matrix for given matrix and store result in the internal matrix.

Concatenate() [2/2]

void albaTransform::Concatenate ( albaTransformBase *  trans, int  premultiply  )

inline

Pre or Post multiply the internal matrix for given transform and store result in the internal matrix.

Definition at line 187 of file albaTransform.h.

References Concatenate(), and albaTransformBase::GetMatrix().

Referenced by Concatenate().

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SetOrientation() [1/4]

static void albaTransform::SetOrientation ( albaMatrix &  matrix, double  orientation[3]  )

static

This function set the orientation (acc.

to VTK convention) of the matrix. Notice, the non static functions work on the internal matrix and can be used in conjuction with SetMatrix, but if a pipeline is defined (input, input_frame or target_frame) it's overwritten whenever the Update() is performed.

SetOrientation() [2/4]

void albaTransform::SetOrientation ( double  orientation[3] )

inline

Definition at line 194 of file albaTransform.h.

References SetOrientation().

Referenced by SetOrientation().

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SetOrientation() [3/4]

void albaTransform::SetOrientation ( double  rx, double  ry, double  rz  )

inline

Definition at line 195 of file albaTransform.h.

References SetOrientation().

Referenced by SetOrientation().

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SetOrientation() [4/4]

static void albaTransform::SetOrientation ( albaMatrix &  matrix, double  rx, double  ry, double  rz  )

inlinestatic

Definition at line 196 of file albaTransform.h.

GetScale() [1/3]

static void albaTransform::GetScale ( const albaMatrix &  matrix, double  scale[3]  )

static

Return the scale factors of the current transformation matrix as an array of three float numbers.

These scale factors are not necessarily about the x, y, and z axes unless unless the scale transformation was applied before any rotations. Copied from vtkTransform::GetScale()

GetScale() [2/3]

void albaTransform::GetScale ( double  scale[3] )

inline

Definition at line 207 of file albaTransform.h.

References GetScale().

Referenced by GetScale().

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GetScale() [3/3]

void albaTransform::GetScale ( float  scale[3] )

inline

Definition at line 208 of file albaTransform.h.

Scale() [1/2]

static void albaTransform::Scale ( albaMatrix &  matrix, double  scalex, double  scaley, double  scalez, int  premultiply  )

static

Apply a scale transform.

By default the scale matrix is premultiplied

Scale() [2/2]

void albaTransform::Scale ( double  scalex, double  scaley, double  scalez, int  premultiply  )

inline

Definition at line 216 of file albaTransform.h.

SetVersor()

static void albaTransform::SetVersor ( int  axis, double  versor[3], albaMatrix &  matrix  )

static

Set/Get internal matrix versor.

GetVersor() [1/4]

static void albaTransform::GetVersor ( int  axis, const albaMatrix &  matrix, double  versor[3]  )

inlinestatic

Definition at line 222 of file albaTransform.h.

References albaMatrix::GetVersor().

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GetVersor() [2/4]

static void albaTransform::GetVersor ( int  axis, const albaMatrix &  matrix, float  versor[3]  )

inlinestatic

Definition at line 223 of file albaTransform.h.

GetVersor() [3/4]

void albaTransform::GetVersor ( int  axis, double  versor[3]  )

inline

Definition at line 230 of file albaTransform.h.

References albaTransformBase::GetMatrix(), and GetVersor().

Referenced by GetVersor().

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GetVersor() [4/4]

void albaTransform::GetVersor ( int  axis, float  versor[3]  )

inline

Definition at line 231 of file albaTransform.h.

References albaTransformBase::GetMatrix(), and GetVersor().

Referenced by GetVersor().

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CopyRotation() [1/2]

static void albaTransform::CopyRotation ( const albaMatrix &  source, albaMatrix &  target  )

static

Copy the 3x3 rotation matrix from another 4x4 matrix into the specified matrix, or in the internal matrix.

CopyRotation() [2/2]

void albaTransform::CopyRotation ( const albaMatrix &  source )

inline

Definition at line 236 of file albaTransform.h.

References CopyRotation().

Referenced by CopyRotation().

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CopyTranslation() [1/2]

static void albaTransform::CopyTranslation ( const albaMatrix &  source, albaMatrix &  target  )

static

Copy the translation vector.

CopyTranslation() [2/2]

void albaTransform::CopyTranslation ( const albaMatrix &  source )

inline

Definition at line 240 of file albaTransform.h.

References CopyTranslation().

Referenced by CopyTranslation().

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AddVectors()

static void albaTransform::AddVectors ( double  inV0[3], double  inV1[3], double  outSum[3]  )

static

Add two vectors.

BuildVector() [1/2]

static void albaTransform::BuildVector ( double *  p1, double *  p2, double *  out_vector  )

static

Build vector with origin in p1 pointing to p2.

BuildVector() [2/2]

static void albaTransform::BuildVector ( double  coeff, const double *  inVector, double *  outVector, int  refSysType = LOCAL, int  localAxis = albaInteractorConstraint::X  )

static

Build vector [coeff * inVector].

ProjectVectorOnAxis()

static double albaTransform::ProjectVectorOnAxis ( const double *  in_vector, const double *  in_axis, double *  out_projection = NULL  )

static

Project in_vector on in_axis direction; in_axis does not need to be normalised.

The projection signed value is returned

ProjectVectorOnPlane()

static double albaTransform::ProjectVectorOnPlane ( const double *  in_vector, const double *  in_plane_normal, double *  out_projection = NULL  )

static

Project in_vector on the plane identified by the normal vector in_plane_normal; in_plane_normal does not need to be normalised.

The norm of the projection is returned and the projection vector is written in out_projection vector if provided.

FindPerpendicularVersors()

static void albaTransform::FindPerpendicularVersors ( double  inVersorN[3], double  outVersorP[3], double  outVersorQ[3]  )

static

Find perpendicular versors to input versor N.

MultiplyVectorByScalar()

static void albaTransform::MultiplyVectorByScalar ( double  s, double *  vin, double *  vout  )

static

Multiply vector by scalar.

MatrixToAttitudeVector()

int albaTransform::MatrixToAttitudeVector	(	const albaMatrix &	matrix,
		double	attitude_vector[3]
	)

rotation representation conversion

MatrixToEulerCardanicAngle()

int albaTransform::MatrixToEulerCardanicAngle	(	const albaMatrix &	matrix,
		int	i,
		int	j,
		int	k,
		double	euler_cardan[3],
		double	tentative_euler_cardan_first,
		double	tentative_euler_cardan_second,
		double	tentative_euler_cardan_third
	)

rotation representation conversion

MatrixTommuQuaternion()

int albaTransform::MatrixTommuQuaternion	(	const albaMatrix &	matrix,
		double	quaternion[4]
	)

rotation representation conversion

QuaternionToMatrix()

int albaTransform::QuaternionToMatrix	(	double	quaternion[4],
		albaMatrix &	matrix
	)

rotation representation conversion

HelicalAxisToMatrix()

int albaTransform::HelicalAxisToMatrix	(	double	helical_axis[3],
		double	angle,
		albaMatrix &	matrix
	)

rotation + translation representation conversion

AttitudeVectorToMatrix()

int albaTransform::AttitudeVectorToMatrix	(	double	attitude_vector[3],
		albaMatrix &	matrix
	)

rotation representation conversion

EulerCardanicAngleToMatrix()

int albaTransform::EulerCardanicAngleToMatrix	(	double	euler_cardan[3],
		int	i,
		int	j,
		int	k,
		albaMatrix &	matrix
	)

rotation representation conversion

MatrixToHelicalAxis()

int albaTransform::MatrixToHelicalAxis	(	const albaMatrix &	matrix,
		double	helical_axis[3],
		double	point[3],
		double &	phi,
		double &	t,
		int	intersect
	)

rotation + translation representation conversion

PolarDecomp() [3/3]

static double albaTransform::PolarDecomp ( HMatrix  M, HMatrix  Q, HMatrix  S  )

static

DecompAffine()

static void albaTransform::DecompAffine ( HMatrix  A, mmuAffineParts *  parts  )

static

SpectDecomp()

static HVect albaTransform::SpectDecomp ( HMatrix  S, HMatrix  U  )

static

QuaternionFromMatrix()

static mmuQuat albaTransform::QuaternionFromMatrix ( HMatrix  mat )

static

InvertAffine()

static void albaTransform::InvertAffine ( mmuAffineParts *  parts, mmuAffineParts *  inverse  )

static

Snuggle()

static mmuQuat albaTransform::Snuggle ( mmuQuat  q, HVect *  k  )

static

InternalUpdate()

virtual void albaTransform::InternalUpdate ( )

inlineprotectedvirtual

This only sets the timestamp for the output matrix: output matrix is not computed inside InternalUpdate since this is not a procedural transform.

Implements albaTransformBase.

Definition at line 330 of file albaTransform.h.

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

• albaTransform.h