Package org.robwork.sdurw
Class Transform3DVectorf
- java.lang.Object
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- org.robwork.sdurw.Transform3DVectorf
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public class Transform3DVectorf 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 Transform3DVectorf()
default constructorTransform3DVectorf(long cPtr, boolean cMemoryOwn)
Transform3DVectorf(EigenVector7f vec)
Constuct a Transform3DVector from a EigenVectorTransform3DVectorf(Transform3Df t3d)
Constuct a Transform3DVector from a Transform3DTransform3DVectorf(Vector3Df vec, Quaternionf rot)
Constuct a Transformation matrix as a VectorTransform3DVectorf(Vector3Df vec, Rotation3DVectorf 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 Transform3DVectorf
add(float rhs)
Scalar additionTransform3DVectorf
add(Quaternionf rhs)
add a Quaternion to the rotation of the transformTransform3DVectorf
add(Transform3DVectorf rhs)
element wise add two Transform3DVectorsTransform3DVectorf
add(Vector3Df rhs)
add a Vector3D to the position of the transformTransform3DVectorf
addAssign(Quaternionf rhs)
add to the Roation of the transformTransform3DVectorf
addAssign(Transform3DVectorf rhs)
add to the transformTransform3DVectorf
addAssign(Vector3Df rhs)
add to the position of the transformTransform3DVectorf
assign(EigenVector7f rhs)
copy the transform from an eigen vectorTransform3DVectorf
assign(Quaternionf rhs)
Override the Roation of the transformTransform3DVectorf
assign(Transform3Df rhs)
convert and copy the transformTransform3DVectorf
assign(Transform3DVectorf rhs)
copy the transformTransform3DVectorf
assign(Vector3Df rhs)
Override the position of the transformvoid
delete()
Transform3DVectorf
divide(float rhs)
Scalar devisionTransform3DVectorf
divide(Quaternionf rhs)
element wise devide a Quaternion with the Quaternion rotation of the transformEigenVector7f
e()
get the underling eigen typefloat
get(long i)
static long
getCPtr(Transform3DVectorf obj)
Transform3DVectorf
multiply(float rhs)
Scalar multiplicationTransform3DVectorf
multiply(Quaternionf rhs)
element wise multiply a Quaternion with the Quaternion rotation of the transformVector3Df
multiply(Vector3Df rhs)
Matrix vector multiplication with Vector3D.void
set(long i, float d)
long
size()
get the size.Transform3DVectorf
subtract(float rhs)
Scalar subtractionTransform3DVectorf
subtract(Quaternionf rhs)
subtract a Quaternion from the rotation of the transformTransform3DVectorf
subtract(Transform3DVectorf rhs)
element wise subtract two Transform3DVectorsTransform3DVectorf
subtract(Vector3Df rhs)
subtract a Vector3D from the position of the transformTransform3DVectorf
subtractAssign(Quaternionf rhs)
add to the Roation of the transformTransform3DVectorf
subtractAssign(Transform3DVectorf rhs)
subtract from the transformTransform3DVectorf
subtractAssign(Vector3Df rhs)
subtract from the position of the transformEAAf
toEAA()
convert the rotation part to EAAQuaternionf
toQuaternion()
get the Rotation of the transformTransform3Df
toTransform3D()
Returns the corresponding Trandforma3D matrixVector3Df
toVector3D()
get the position Vector of the transform
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Constructor Detail
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Transform3DVectorf
public Transform3DVectorf(long cPtr, boolean cMemoryOwn)
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Transform3DVectorf
public Transform3DVectorf()
default constructor
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Transform3DVectorf
public Transform3DVectorf(Vector3Df vec, Quaternionf 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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Transform3DVectorf
public Transform3DVectorf(Vector3Df vec, Rotation3DVectorf 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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Transform3DVectorf
public Transform3DVectorf(Transform3Df t3d)
Constuct a Transform3DVector from a Transform3D- Parameters:
t3d
- [in] Transform3D
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Transform3DVectorf
public Transform3DVectorf(EigenVector7f 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(Transform3DVectorf obj)
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delete
public void delete()
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add
public Transform3DVectorf add(Vector3Df 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 Transform3DVectorf subtract(Vector3Df 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 Vector3Df multiply(Vector3Df 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 Transform3DVectorf add(Quaternionf 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 Transform3DVectorf subtract(Quaternionf 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 Transform3DVectorf divide(Quaternionf 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 Transform3DVectorf multiply(Quaternionf 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 Transform3DVectorf add(Transform3DVectorf 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 Transform3DVectorf subtract(Transform3DVectorf 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 Transform3DVectorf multiply(float rhs)
Scalar multiplication- Parameters:
rhs
- [in] the scalar to multiply with- Returns:
- product of the multiplication
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add
public Transform3DVectorf add(float rhs)
Scalar addition- Parameters:
rhs
- [in] the scalar to add- Returns:
- the sum
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subtract
public Transform3DVectorf subtract(float rhs)
Scalar subtraction- Parameters:
rhs
- [in] the scalar to subtract- Returns:
- the difference
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divide
public Transform3DVectorf divide(float 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 Vector3Df toVector3D()
get the position Vector of the transform- Returns:
- a copy of the position vector
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toQuaternion
public Quaternionf toQuaternion()
get the Rotation of the transform- Returns:
- a copy of the quaternion rotation
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toEAA
public EAAf toEAA()
convert the rotation part to EAA- Returns:
- toration in EAA form
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toTransform3D
public Transform3Df toTransform3D()
Returns the corresponding Trandforma3D matrix- Returns:
- The transformation matrix
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e
public EigenVector7f e()
get the underling eigen type- Returns:
- reference to eigen vector
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assign
public Transform3DVectorf assign(Transform3DVectorf rhs)
copy the transform- Parameters:
rhs
- the transform to copy- Returns:
- a copy of this object
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addAssign
public Transform3DVectorf addAssign(Transform3DVectorf rhs)
add to the transform- Parameters:
rhs
- the transform to be added- Returns:
- a copy of this object
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subtractAssign
public Transform3DVectorf subtractAssign(Transform3DVectorf rhs)
subtract from the transform- Parameters:
rhs
- the transform to be subtracted- Returns:
- a copy of this object
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assign
public Transform3DVectorf assign(Quaternionf rhs)
Override the Roation of the transform- Parameters:
rhs
- the new rotation- Returns:
- a copy of this object
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addAssign
public Transform3DVectorf addAssign(Quaternionf 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 Transform3DVectorf subtractAssign(Quaternionf 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 Transform3DVectorf assign(Transform3Df rhs)
convert and copy the transform- Parameters:
rhs
- the transform to copy- Returns:
- a copy of this object
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assign
public Transform3DVectorf assign(Vector3Df rhs)
Override the position of the transform- Parameters:
rhs
- the new position- Returns:
- a copy of this object
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addAssign
public Transform3DVectorf addAssign(Vector3Df 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 Transform3DVectorf subtractAssign(Vector3Df 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 Transform3DVectorf assign(EigenVector7f 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 float get(long i)
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set
public void set(long i, float d)
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