Package org.robwork.sdurw_math

Class Transform3DVector

  • public class Transform3DVector
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.

    • Constructor Detail

      • Transform3DVector

        public Transform3DVector​(long cPtr,
                         boolean cMemoryOwn)

      • Transform3DVector

        public Transform3DVector()
        default constructor

      • Transform3DVector

        public Transform3DVector​(Vector3D vec,
                         Quaternion rot)
        Constuct a Transformation matrix as a Vector
        Parameters:
        vec - [in] the vector of the transform
        rot - [in] the rotation of the transform

      • Transform3DVector

        public Transform3DVector​(Vector3D vec,
                         Rotation3DVector rot)
        Constuct a Transformation matrix as a Vector
        Parameters:
        vec - [in] the vector of the transform
        rot - [in] the rotation of the transform

      • Transform3DVector

        public Transform3DVector​(Transform3D t3d)
        Constuct a Transform3DVector from a Transform3D
        Parameters:
        t3d - [in] Transform3D

      • Transform3DVector

        public Transform3DVector​(EigenVector7d vec)
        Constuct a Transform3DVector from a EigenVector
        Parameters:
        vec - [in] Transform3D

    • Method Detail

      • delete

        public void delete()

      • add

        public Transform3DVector add​(Vector3D rhs)
        add a Vector3D to the position of the transform
        Parameters:
        rhs - [in] the right hand side value
        Returns:
        result of devision

      • subtract

        public Transform3DVector subtract​(Vector3D rhs)
        subtract a Vector3D from the position of the transform
        Parameters:
        rhs - [in] the right hand side value
        Returns:
        result of devision

      • multiply

        public Vector3D multiply​(Vector3D rhs)
        Matrix vector multiplication with Vector3D. Same as Transform3D<> * Vector3D<>;
        Parameters:
        rhs - [in] the right hand side value
        Returns:
        result of multiplication

      • add

        public Transform3DVector add​(Quaternion rhs)
        add a Quaternion to the rotation of the transform
        Parameters:
        rhs - [in] the right hand side value
        Returns:
        result of devision

      • subtract

        public Transform3DVector subtract​(Quaternion rhs)
        subtract a Quaternion from the rotation of the transform
        Parameters:
        rhs - [in] the right hand side value
        Returns:
        result of devision

      • divide

        public Transform3DVector divide​(Quaternion 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

      • multiply

        public Transform3DVector multiply​(Quaternion 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

      • add

        public Transform3DVector add​(Transform3DVector rhs)
        element wise add two Transform3DVectors
        Parameters:
        rhs - [in] the Transform3D vector to be added with
        Returns:
        the sum of the two objects

      • subtract

        public Transform3DVector subtract​(Transform3DVector rhs)
        element wise subtract two Transform3DVectors
        Parameters:
        rhs - [in] the Transform3D vector to be subtracted with
        Returns:
        the difference of the two objects

      • multiply

        public Transform3DVector multiply​(double rhs)
        Scalar multiplication
        Parameters:
        rhs - [in] the scalar to multiply with
        Returns:
        product of the multiplication

      • add

        public Transform3DVector add​(double rhs)
        Scalar addition
        Parameters:
        rhs - [in] the scalar to add
        Returns:
        the sum

      • subtract

        public Transform3DVector subtract​(double rhs)
        Scalar subtraction
        Parameters:
        rhs - [in] the scalar to subtract
        Returns:
        the difference

      • divide

        public Transform3DVector divide​(double rhs)
        Scalar devision
        Parameters:
        rhs - [in] the scalar to devide with
        Returns:
        the result

      • get

        public double get​(long i)

      • set

        public void set​(long i,
                double d)

      • size

        public long size()
        get the size. Index 0-2 Vector, 3-6 Quaternion
        Returns:
        always 7

      • toVector3D

        public Vector3D toVector3D()
        get the position Vector of the transform
        Returns:
        a copy of the position vector

      • toQuaternion

        public Quaternion toQuaternion()
        get the Rotation of the transform
        Returns:
        a copy of the quaternion rotation

      • toEAA

        public EAA toEAA()
        convert the rotation part to EAA
        Returns:
        toration in EAA form

      • toTransform3D

        public Transform3D toTransform3D()
        Returns the corresponding Trandforma3D matrix
        Returns:
        The transformation matrix

      • e

        public EigenVector7d e()
        get the underling eigen type
        Returns:
        reference to eigen vector

      • toString

        public java.lang.String toString()
        Overrides:
        toString in class java.lang.Object

      • addAssign

        public Transform3DVector addAssign​(Transform3DVector rhs)
        add to the transform
        Parameters:
        rhs - the transform to be added
        Returns:
        a copy of this object

      • subtractAssign

        public Transform3DVector subtractAssign​(Transform3DVector rhs)
        subtract from the transform
        Parameters:
        rhs - the transform to be subtracted
        Returns:
        a copy of this object

      • assign

        public Transform3DVector assign​(Quaternion rhs)
        Override the Roation of the transform
        Parameters:
        rhs - the new rotation
        Returns:
        a copy of this object

      • addAssign

        public Transform3DVector addAssign​(Quaternion rhs)
        add to the Roation of the transform
        Parameters:
        rhs - the rotation to be added
        Returns:
        a copy of this object

      • subtractAssign

        public Transform3DVector subtractAssign​(Quaternion rhs)
        add to the Roation of the transform
        Parameters:
        rhs - the rotation to be added
        Returns:
        a copy of this object

      • assign

        public Transform3DVector assign​(Transform3D rhs)
        convert and copy the transform
        Parameters:
        rhs - the transform to copy
        Returns:
        a copy of this object

      • assign

        public Transform3DVector assign​(Vector3D rhs)
        Override the position of the transform
        Parameters:
        rhs - the new position
        Returns:
        a copy of this object

      • addAssign

        public Transform3DVector addAssign​(Vector3D rhs)
        add to the position of the transform
        Parameters:
        rhs - the new position
        Returns:
        a copy of this object

      • subtractAssign

        public Transform3DVector subtractAssign​(Vector3D rhs)
        subtract from the position of the transform
        Parameters:
        rhs - the new position
        Returns:
        a copy of this object

      • assign

        public Transform3DVector assign​(EigenVector7d rhs)
        copy the transform from an eigen vector
        Parameters:
        rhs - the transform to copy
        Returns:
        a copy of this object