Package org.robwork.sdurw_math

Class Transform3D

  • public class Transform3D
extends java.lang.Object

    • Constructor Detail

      • Transform3D

        public Transform3D​(long cPtr,
                   boolean cMemoryOwn)

      • Transform3D

        public Transform3D()
        Default Constructor.

        Initializes with 0 translation and Identity matrix as rotation

      • Transform3D

        public Transform3D​(Vector3D d,
                   Rotation3D R)
        Constructs a homogeneous transform
        Parameters:
        d - [in] \mathbf{d} A 3x1 translation vector
        R - [in] \mathbf{R} A 3x3 rotation matrix

      • Transform3D

        public Transform3D​(Rotation3D R)
        A homogeneous transform with a rotation of R and a
        translation of zero.

      • Transform3D

        public Transform3D​(Vector3D d)
        A homogeneous transform with a rotation of zero and a
        translation of d.

      • Transform3D

        public Transform3D​(Transform3D t)
        Copy Constructor
        Parameters:
        t - [in] Values to initialize the transform

      • Transform3D

        public Transform3D​(Vector3D d,
                   Rotation3DVector r)
        Constructs a homogeneous transform

        Calling this constructor is equivalent to the transform
        Transform3D(d, r.toRotation3D()).

        Parameters:
        d - [in] \mathbf{d} A 3x1 translation vector
        r - [in] \mathbf{r} A 3x1 rotation vector

    • Method Detail

      • getCPtr

        public static long getCPtr​(Transform3D obj)

      • delete

        public void delete()

      • DH

        public static Transform3D DH​(double alpha,
                             double a,
                             double d,
                             double theta)

      • craigDH

        public static Transform3D craigDH​(double alpha,
                                  double a,
                                  double d,
                                  double theta)

      • DHHGP

        public static Transform3D DHHGP​(double alpha,
                                double a,
                                double beta,
                                double b)

      • get

        public double get​(long row,
                  long column)

      • set

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

      • equals

        public boolean equals​(Transform3D rhs)
        Comparison operator.

        The comparison operator makes a element wise comparison.
        Returns true only if all elements are equal.

        Parameters:
        rhs - [in] Transform to compare with
        Returns:
        True if equal.

      • notEqual

        public boolean notEqual​(Transform3D rhs)
        Comparison operator.

        The comparison operator makes a element wise comparison.
        Returns true if any of the elements are different.

        Parameters:
        rhs - [in] Transform to compare with
        Returns:
        True if not equal.

      • equal

        public boolean equal​(Transform3D t3d,
                     double precision)
        Compares the transformations with a given precision

        Performs an element wise comparison. Two elements are considered equal if the difference
        are less than precision.

        Parameters:
        t3d - [in] Transform to compare with
        precision - [in] The precision to use for testing
        Returns:
        True if all elements are less than precision apart.

      • equal

        public boolean equal​(Transform3D t3d)
        Compares the transformations with a given precision

        Performs an element wise comparison. Two elements are considered equal if the difference
        are less than precision.

        Parameters:
        t3d - [in] Transform to compare with

        Returns:
        True if all elements are less than precision apart.

      • multiply

        public Vector3D multiply​(Vector3D 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 Rotation3D R()
        Gets the rotation part \mathbf{R} from \mathbf{T}
        Returns:
        \mathbf{R}

      • P

        public Vector3D 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

      • invMult

        public static Transform3D invMult​(Transform3D t1,
                                  Transform3D t2)
        computes the inverse of t1 and multiplies it with t2.
        The result is saved in t1. t1 = inv(t1) * t2

      • makeLookAt

        public static Transform3D makeLookAt​(Vector3D eye,
                                     Vector3D center,
                                     Vector3D up)
        creates a transformation that is positioned in eye and looking toward
        center along -z where up indicates the upward direction along which the y-axis
        is placed. Same convention as for gluLookAt
        and is handy for placing a cameraview.
        Parameters:
        eye - [in] position of view
        center - [in] point to look toward
        up - [in] the upward direction (the
        Returns:
        Transformation

      • e

        public EigenMatrix4d e()
        Returns a Eigen 4x4 matrix \mathbf{M}\in SE(3) that represents this homogeneous transformation

        Returns:
        \mathbf{M}\in SE(3)