Package org.robwork.sdurw
Class Transform3DVectord
- java.lang.Object
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- org.robwork.sdurw.Transform3DVectord
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public class Transform3DVectord extends java.lang.Object
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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Constructor Summary
Constructors Constructor Description Transform3DVectord()
default constructorTransform3DVectord(long cPtr, boolean cMemoryOwn)
Transform3DVectord(EigenVector7d vec)
Constuct a Transform3DVector from a EigenVectorTransform3DVectord(Transform3Dd t3d)
Constuct a Transform3DVector from a Transform3DTransform3DVectord(Vector3Dd vec, Quaterniond rot)
Constuct a Transformation matrix as a VectorTransform3DVectord(Vector3Dd vec, Rotation3DVectord rot)
Constuct a Transformation matrix as a Vector
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Transform3DVectord
add(double rhs)
Scalar additionTransform3DVectord
add(Quaterniond rhs)
add a Quaternion to the rotation of the transformTransform3DVectord
add(Transform3DVectord rhs)
element wise add two Transform3DVectorsTransform3DVectord
add(Vector3Dd rhs)
add a Vector3D to the position of the transformTransform3DVectord
addAssign(Quaterniond rhs)
add to the Roation of the transformTransform3DVectord
addAssign(Transform3DVectord rhs)
add to the transformTransform3DVectord
addAssign(Vector3Dd rhs)
add to the position of the transformTransform3DVectord
assign(EigenVector7d rhs)
copy the transform from an eigen vectorTransform3DVectord
assign(Quaterniond rhs)
Override the Roation of the transformTransform3DVectord
assign(Transform3Dd rhs)
convert and copy the transformTransform3DVectord
assign(Transform3DVectord rhs)
copy the transformTransform3DVectord
assign(Vector3Dd rhs)
Override the position of the transformvoid
delete()
Transform3DVectord
divide(double rhs)
Scalar devisionTransform3DVectord
divide(Quaterniond rhs)
element wise devide a Quaternion with the Quaternion rotation of the transformEigenVector7d
e()
get the underling eigen typedouble
get(long i)
static long
getCPtr(Transform3DVectord obj)
Transform3DVectord
multiply(double rhs)
Scalar multiplicationTransform3DVectord
multiply(Quaterniond rhs)
element wise multiply a Quaternion with the Quaternion rotation of the transformVector3Dd
multiply(Vector3Dd rhs)
Matrix vector multiplication with Vector3D.void
set(long i, double d)
long
size()
get the size.Transform3DVectord
subtract(double rhs)
Scalar subtractionTransform3DVectord
subtract(Quaterniond rhs)
subtract a Quaternion from the rotation of the transformTransform3DVectord
subtract(Transform3DVectord rhs)
element wise subtract two Transform3DVectorsTransform3DVectord
subtract(Vector3Dd rhs)
subtract a Vector3D from the position of the transformTransform3DVectord
subtractAssign(Quaterniond rhs)
add to the Roation of the transformTransform3DVectord
subtractAssign(Transform3DVectord rhs)
subtract from the transformTransform3DVectord
subtractAssign(Vector3Dd rhs)
subtract from the position of the transformEAAd
toEAA()
convert the rotation part to EAAQuaterniond
toQuaternion()
get the Rotation of the transformTransform3Dd
toTransform3D()
Returns the corresponding Trandforma3D matrixVector3Dd
toVector3D()
get the position Vector of the transform
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Constructor Detail
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Transform3DVectord
public Transform3DVectord(long cPtr, boolean cMemoryOwn)
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Transform3DVectord
public Transform3DVectord()
default constructor
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Transform3DVectord
public Transform3DVectord(Vector3Dd vec, Quaterniond rot)
Constuct a Transformation matrix as a Vector- Parameters:
vec
- [in] the vector of the transformrot
- [in] the rotation of the transform
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Transform3DVectord
public Transform3DVectord(Vector3Dd vec, Rotation3DVectord rot)
Constuct a Transformation matrix as a Vector- Parameters:
vec
- [in] the vector of the transformrot
- [in] the rotation of the transform
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Transform3DVectord
public Transform3DVectord(Transform3Dd t3d)
Constuct a Transform3DVector from a Transform3D- Parameters:
t3d
- [in] Transform3D
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Transform3DVectord
public Transform3DVectord(EigenVector7d vec)
Constuct a Transform3DVector from a EigenVector- Parameters:
vec
- [in] Transform3D
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Method Detail
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getCPtr
public static long getCPtr(Transform3DVectord obj)
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delete
public void delete()
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add
public Transform3DVectord add(Vector3Dd rhs)
add a Vector3D to the position of the transform- Parameters:
rhs
- [in] the right hand side value- Returns:
- result of devision
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subtract
public Transform3DVectord subtract(Vector3Dd rhs)
subtract a Vector3D from the position of the transform- Parameters:
rhs
- [in] the right hand side value- Returns:
- result of devision
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multiply
public Vector3Dd multiply(Vector3Dd rhs)
Matrix vector multiplication with Vector3D. Same as Transform3D<> * Vector3D<>;- Parameters:
rhs
- [in] the right hand side value- Returns:
- result of multiplication
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add
public Transform3DVectord add(Quaterniond rhs)
add a Quaternion to the rotation of the transform- Parameters:
rhs
- [in] the right hand side value- Returns:
- result of devision
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subtract
public Transform3DVectord subtract(Quaterniond rhs)
subtract a Quaternion from the rotation of the transform- Parameters:
rhs
- [in] the right hand side value- Returns:
- result of devision
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divide
public Transform3DVectord divide(Quaterniond rhs)
element wise devide a Quaternion with the Quaternion rotation of the transform- Parameters:
rhs
- [in] the right hand side value- Returns:
- result of devision
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multiply
public Transform3DVectord multiply(Quaterniond rhs)
element wise multiply a Quaternion with the Quaternion rotation of the transform- Parameters:
rhs
- [in] the right hand side value- Returns:
- result of multiplication
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add
public Transform3DVectord add(Transform3DVectord rhs)
element wise add two Transform3DVectors- Parameters:
rhs
- [in] the Transform3D vector to be added with- Returns:
- the sum of the two objects
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subtract
public Transform3DVectord subtract(Transform3DVectord rhs)
element wise subtract two Transform3DVectors- Parameters:
rhs
- [in] the Transform3D vector to be subtracted with- Returns:
- the difference of the two objects
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multiply
public Transform3DVectord multiply(double rhs)
Scalar multiplication- Parameters:
rhs
- [in] the scalar to multiply with- Returns:
- product of the multiplication
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add
public Transform3DVectord add(double rhs)
Scalar addition- Parameters:
rhs
- [in] the scalar to add- Returns:
- the sum
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subtract
public Transform3DVectord subtract(double rhs)
Scalar subtraction- Parameters:
rhs
- [in] the scalar to subtract- Returns:
- the difference
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divide
public Transform3DVectord divide(double rhs)
Scalar devision- Parameters:
rhs
- [in] the scalar to devide with- Returns:
- the result
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size
public long size()
get the size. Index 0-2 Vector, 3-6 Quaternion- Returns:
- always 7
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toVector3D
public Vector3Dd toVector3D()
get the position Vector of the transform- Returns:
- a copy of the position vector
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toQuaternion
public Quaterniond toQuaternion()
get the Rotation of the transform- Returns:
- a copy of the quaternion rotation
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toEAA
public EAAd toEAA()
convert the rotation part to EAA- Returns:
- toration in EAA form
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toTransform3D
public Transform3Dd toTransform3D()
Returns the corresponding Trandforma3D matrix- Returns:
- The transformation matrix
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e
public EigenVector7d e()
get the underling eigen type- Returns:
- reference to eigen vector
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assign
public Transform3DVectord assign(Transform3DVectord rhs)
copy the transform- Parameters:
rhs
- the transform to copy- Returns:
- a copy of this object
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addAssign
public Transform3DVectord addAssign(Transform3DVectord rhs)
add to the transform- Parameters:
rhs
- the transform to be added- Returns:
- a copy of this object
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subtractAssign
public Transform3DVectord subtractAssign(Transform3DVectord rhs)
subtract from the transform- Parameters:
rhs
- the transform to be subtracted- Returns:
- a copy of this object
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assign
public Transform3DVectord assign(Quaterniond rhs)
Override the Roation of the transform- Parameters:
rhs
- the new rotation- Returns:
- a copy of this object
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addAssign
public Transform3DVectord addAssign(Quaterniond rhs)
add to the Roation of the transform- Parameters:
rhs
- the rotation to be added- Returns:
- a copy of this object
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subtractAssign
public Transform3DVectord subtractAssign(Quaterniond rhs)
add to the Roation of the transform- Parameters:
rhs
- the rotation to be added- Returns:
- a copy of this object
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assign
public Transform3DVectord assign(Transform3Dd rhs)
convert and copy the transform- Parameters:
rhs
- the transform to copy- Returns:
- a copy of this object
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assign
public Transform3DVectord assign(Vector3Dd rhs)
Override the position of the transform- Parameters:
rhs
- the new position- Returns:
- a copy of this object
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addAssign
public Transform3DVectord addAssign(Vector3Dd rhs)
add to the position of the transform- Parameters:
rhs
- the new position- Returns:
- a copy of this object
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subtractAssign
public Transform3DVectord subtractAssign(Vector3Dd rhs)
subtract from the position of the transform- Parameters:
rhs
- the new position- Returns:
- a copy of this object
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assign
public Transform3DVectord assign(EigenVector7d rhs)
copy the transform from an eigen vector- Parameters:
rhs
- the transform to copy- Returns:
- a copy of this object
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get
public double get(long i)
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set
public void set(long i, double d)
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