Package org.robwork.sdurw

Class Transform2Dd

java.lang.Object

org.robwork.sdurw.Transform2Dd

public class Transform2Dd
extends java.lang.Object

A 4x4 homogeneous transform matrix \mathbf{T}\in SE(3)

\mathbf{T} = \left[ \begin{array}{cc} \mathbf{R} \mathbf{d} \\ \begin{array}{ccc}0 0 0\end{array} 1 \end{array} \right]

Constructor Summary

Constructors

Constructor	Description
Transform2Dd()	Default Constructor. Initializes with 0 translation and Identity matrix as rotation
Transform2Dd(long cPtr, boolean cMemoryOwn)
Transform2Dd(Vector2Dd d, Rotation2Dd R)	Constructs a homogeneous transform

Method Summary

Modifier and Type	Method	Description
void	delete()
double	get(long row, long column)
static long	getCPtr(Transform2Dd obj)
static Transform2Dd	identity()	Constructs the identity transform
Transform2Dd	multiply(Transform2Dd bTc)	Calculates \robabx{a}{c}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}} \robabx{b}{c}{\mathbf{T}}
Vector2Dd	multiply(Vector2Dd bP)	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
Vector2Dd	P()	Gets the position part \mathbf{d} from \mathbf{T}
Rotation2Dd	R()	Gets the rotation part \mathbf{R} from \mathbf{T}
void	set(long row, long column, double d)
java.lang.String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Transform2Dd

public Transform2Dd(long cPtr,
                    boolean cMemoryOwn)

Transform2Dd

public Transform2Dd()

Default Constructor.

Initializes with 0 translation and Identity matrix as rotation

Transform2Dd

public Transform2Dd(Vector2Dd d,
                    Rotation2Dd R)

Constructs a homogeneous transform

Parameters:

d - [in] \mathbf{d} A 3x1 translation vector

R - [in] \mathbf{R} A 3x3 rotation matrix

Method Detail

getCPtr

public static long getCPtr(Transform2Dd obj)

delete

public void delete()

identity

public static Transform2Dd identity()

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]

multiply

public Transform2Dd multiply(Transform2Dd bTc)

Calculates \robabx{a}{c}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}} \robabx{b}{c}{\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}{ccc} 0 0 0 \end{array} 1 \end{array} \right]

multiply

public Vector2Dd multiply(Vector2Dd bP)

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

Parameters:

bP - [in] \robax{b}{\mathbf{p}}

Returns:

\robax{a}{\mathbf{p}}

R

public Rotation2Dd R()

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

Returns:

\mathbf{R}

P

public Vector2Dd P()

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

Returns:

\mathbf{d}

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

get

public double get(long row,
                  long column)

set

public void set(long row,
                long column,
                double d)