|
(Note that these are not member functions.)
|
| template<class T > |
| const Transform2D< T > | inverse (const Transform2D< T > &aTb) |
| | Calculates \( \robabx{b}{a}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}}^{-1} \). More...
|
| |
| template<> |
| void | write (const rw::math::Transform2D< double > &sobject, rw::common::OutputArchive &oarchive, const std::string &id) |
| |
| template<> |
| void | write (const rw::math::Transform2D< float > &sobject, rw::common::OutputArchive &oarchive, const std::string &id) |
| |
| template<> |
| void | read (rw::math::Transform2D< double > &sobject, rw::common::InputArchive &iarchive, const std::string &id) |
| |
| template<> |
| void | read (rw::math::Transform2D< float > &sobject, rw::common::InputArchive &iarchive, const std::string &id) |
| |
| template<class Archive , class T > |
| void | serialize (Archive &archive, rw::math::Transform2D< T > &transform, const unsigned int version) |
| | Boost serialization. More...
|
| |
◆ Transform2D() [1/2]
Default Constructor.
Initializes with 0 translation and Identity matrix as rotation
◆ Transform2D() [2/2]
Constructs a homogeneous transform.
- Parameters
-
| d | [in] \( \mathbf{d} \) A 2x1 translation vector |
| R | [in] \( \mathbf{R} \) A 2x2 rotation matrix |
◆ identity()
Constructs the identity transform.
- Returns
- the identity transform
\( \mathbf{T} = \left[ \begin{array}{ccc} 1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 \\ \end{array} \right] \)
◆ operator!=()
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.
◆ operator()() [1/2]
| T& operator() |
( |
std::size_t |
row, |
|
|
std::size_t |
col |
|
) |
| |
|
inline |
Returns matrix element reference.
- Parameters
-
| row | [in] row, row must be \( < 2 \) |
| col | [in] col, col must be \( < 3 \) |
- Returns
- reference to matrix element
◆ operator()() [2/2]
| const T& operator() |
( |
std::size_t |
row, |
|
|
std::size_t |
col |
|
) |
| const |
|
inline |
Returns const matrix element reference.
- Parameters
-
| row | [in] row, row must be \( < 2 \) |
| col | [in] col, col must be \( < 3 \) |
- Returns
- const reference to matrix element
◆ operator*() [1/2]
Calculates \( \robabx{a}{c}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}} \robabx{b}{c}{\mathbf{T}} \) where this object is \( \robabx{a}{b}{\mathbf{T}} \).
- Parameters
-
| bTc | [in] \( \robabx{b}{c}{\mathbf{T}} \) |
- Returns
- \( \robabx{a}{c}{\mathbf{T}} \)
\( \robabx{a}{c}{\mathbf{T}} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}}\robabx{b}{c}{\mathbf{R}} & \robabx{a}{b}{\mathbf{d}} + \robabx{a}{b}{\mathbf{R}}\robabx{b}{c}{\mathbf{d}} \\ \begin{array}{cc} 0 & 0 \end{array} & 1 \end{array} \right] \)
◆ operator*() [2/2]
Calculates \( \robax{a}{\mathbf{p}} = \robabx{a}{b}{\mathbf{T}} \robax{b}{\mathbf{p}} \) thus transforming point \( \mathbf{p} \) from frame \( b \) to frame \( a \). This object is \( \robabx{a}{c}{\mathbf{T}} \).
- Parameters
-
| bP | [in] \( \robax{b}{\mathbf{p}} \) |
- Returns
- \( \robax{a}{\mathbf{p}} \)
◆ operator==()
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.
◆ P() [1/2]
Gets the position part \( \mathbf{d} \) from \( \mathbf{T} \).
- Returns
- \( \mathbf{d} \)
◆ P() [2/2]
Gets the position part \( \mathbf{d} \) from \( \mathbf{T} \).
- Returns
- \( \mathbf{d} \)
◆ R() [1/2]
Gets the rotation part \( \mathbf{R} \) from \( \mathbf{T} \).
- Returns
- \( \mathbf{R} \)
◆ R() [2/2]
Gets the rotation part \( \mathbf{R} \) from \( \mathbf{T} \).
- Returns
- \( \mathbf{R} \)
◆ inverse()
Calculates \( \robabx{b}{a}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}}^{-1} \).
- Parameters
-
| aTb | [in] the transform matrix \( \robabx{a}{b}{\mathbf{T}} \) |
- Returns
- \( \robabx{b}{a}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}}^{-1} \)
\( \robabx{a}{b}{\mathbf{T}}^{-1} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}}^{T} & - \robabx{a}{b}{\mathbf{R}}^{T} \robabx{a}{b}{\mathbf{d}} \\ \begin{array}{cc}0 & 0\end{array} & 1 \end{array} \right] \)
◆ operator<<
| std::ostream& operator<< |
( |
std::ostream & |
os, |
|
|
const Transform2D< T > & |
t |
|
) |
| |
|
friend |
Outputs transform to stream.
- Parameters
-
| os | [in/out] an output stream |
| t | [in] the transform that is to be sent to the output stream |
- Returns
- os
◆ read() [1/2]
Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.
- Parameters
-
| sobject | [out] the object in which the data should be streamed into |
| iarchive | [in] the InputArchive from which to read data. |
| id | [in] The id of the serialized sobject. |
- Note
- the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.
◆ read() [2/2]
Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.
- Parameters
-
| sobject | [out] the object in which the data should be streamed into |
| iarchive | [in] the InputArchive from which to read data. |
| id | [in] The id of the serialized sobject. |
- Note
- the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.
◆ serialize()
Boost serialization.
- Parameters
-
| archive | [in] the boost archive to read from or write to. |
| transform | [in/out] the transformation to read/write. |
| version | [in] class version (currently version 0). |
◆ write() [1/2]
Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.
- Parameters
-
| sobject | [in] the object from which the data should be streamed. |
| oarchive | [out] the OutputArchive in which data should be written. |
| id | [in] The id of the serialized sobject. |
- Note
- the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.
◆ write() [2/2]
Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.
- Parameters
-
| sobject | [in] the object from which the data should be streamed. |
| oarchive | [out] the OutputArchive in which data should be written. |
| id | [in] The id of the serialized sobject. |
- Note
- the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.
The documentation for this class was generated from the following files:
1.9.1