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. More...

#include <Transform3DVector.hpp>

Public Types
typedef Eigen::Matrix< T, 7, 1 >	type

typedef rw::core::Ptr< Transform3DVector< T > >	Ptr

typedef T	value_type

Public Member Functions
	Transform3DVector ()
	default constructor

	Transform3DVector (const rw::math::Vector3D< T > &vec, const rw::math::Quaternion< T > &rot)
	Constuct a Transformation matrix as a Vector. More...

	Transform3DVector (const rw::math::Vector3D< T > &vec, const rw::math::Rotation3DVector< T > &rot)
	Constuct a Transformation matrix as a Vector. More...

	Transform3DVector (const rw::math::Transform3D< T > &t3d)
	Constuct a Transform3DVector from a Transform3D. More...

	Transform3DVector (const type &vec)
	Constuct a Transform3DVector from a EigenVector. More...

	~Transform3DVector ()
	destructor

Transform3DVector< T >	operator+ (const rw::math::Vector3D< T > &rhs) const
	add a Vector3D to the position of the transform More...

Transform3DVector< T >	operator- (const rw::math::Vector3D< T > &rhs) const
	subtract a Vector3D from the position of the transform More...

rw::math::Vector3D< T >	operator* (const rw::math::Vector3D< T > &rhs) const
	Matrix vector multiplication with Vector3D. Same as Transform3D<> * Vector3D<>;. More...

Transform3DVector< T >	operator+ (const rw::math::Quaternion< T > &rhs) const
	add a Quaternion to the rotation of the transform More...

Transform3DVector< T >	operator- (const rw::math::Quaternion< T > &rhs) const
	subtract a Quaternion from the rotation of the transform More...

Transform3DVector< T >	operator/ (const rw::math::Quaternion< T > &rhs) const
	element wise devide a Quaternion with the Quaternion rotation of the transform More...

Transform3DVector< T >	operator* (const rw::math::Quaternion< T > &rhs) const
	element wise multiply a Quaternion with the Quaternion rotation of the transform More...

Transform3DVector< T >	operator+ (const Transform3DVector< T > &rhs) const
	element wise add two Transform3DVectors More...

Transform3DVector< T >	operator- (const Transform3DVector< T > &rhs) const
	element wise subtract two Transform3DVectors More...

Transform3DVector< T >	operator* (const T &rhs) const
	Scalar multiplication. More...

Transform3DVector< T >	operator+ (const T &rhs) const
	Scalar addition. More...

Transform3DVector< T >	operator- (const T &rhs) const
	Scalar subtraction. More...

Transform3DVector< T >	operator/ (const T &rhs) const
	Scalar devision. More...

T &	operator() (size_t i)
	acces operator More...

T	operator() (size_t i) const
	acces operator More...

T &	operator[] (size_t i)
	acces operator More...

T	operator[] (size_t i) const
	acces operator More...

size_t	size () const
	get the size. Index 0-2 Vector, 3-6 Quaternion More...

rw::math::Vector3D< T >	toVector3D () const
	get the position Vector of the transform More...

rw::math::Quaternion< T >	toQuaternion () const
	get the Rotation of the transform More...

rw::math::EAA< T >	toEAA () const
	convert the rotation part to EAA More...

rw::math::Transform3D< T >	toTransform3D () const
	Returns the corresponding Trandforma3D matrix. More...

Eigen::Matrix< T, 7, 1 > &	e ()
	get the underling eigen type More...

Transform3DVector< T > &	operator= (const Transform3DVector< T > &rhs)
	copy the transform More...

Transform3DVector< T > &	operator+= (const Transform3DVector< T > &rhs)
	add to the transform More...

Transform3DVector< T > &	operator-= (const Transform3DVector< T > &rhs)
	subtract from the transform More...

Transform3DVector< T > &	operator= (const rw::math::Quaternion< T > &rhs)
	Override the Roation of the transform. More...

Transform3DVector< T > &	operator+= (const rw::math::Quaternion< T > &rhs)
	add to the Roation of the transform More...

Transform3DVector< T > &	operator-= (const rw::math::Quaternion< T > &rhs)
	add to the Roation of the transform More...

Transform3DVector< T > &	operator= (const rw::math::Transform3D< T > &rhs)
	convert and copy the transform More...

Transform3DVector< T > &	operator= (const rw::math::Vector3D< T > &rhs)
	Override the position of the transform. More...

Transform3DVector< T > &	operator+= (const rw::math::Vector3D< T > &rhs)
	add to the position of the transform More...

Transform3DVector< T > &	operator-= (const rw::math::Vector3D< T > &rhs)
	subtract from the position of the transform More...

Transform3DVector< T > &	operator= (const type &rhs)
	copy the transform from an eigen vector More...

	operator Transform3D< T > () const
	implicit conversion to transform

Friends
Transform3DVector< T >	operator* (const T &lhs, const Transform3DVector< T > &rhs)
	Scalar multiplication. More...

Transform3DVector< T >	operator+ (const T &lhs, const Transform3DVector< T > &rhs)
	Scalar addition. More...

Transform3DVector< T >	operator- (const T &lhs, const Transform3DVector< T > &rhs)
	Scalar subtraction. More...

Transform3DVector< T >	operator/ (const T &lhs, const Transform3DVector< T > &rhs)
	Scalar devision. More...

std::ostream &	operator<< (std::ostream &os, const Transform3DVector< T > &t)

Detailed Description

template<class T = double>
class rw::math::Transform3DVector< T >

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 & Destructor Documentation

◆ Transform3DVector() [1/4]

Transform3DVector	(	const rw::math::Vector3D< T > &	vec,
		const rw::math::Quaternion< T > &	rot
	)

inline

Constuct a Transformation matrix as a Vector.

Parameters

vec	[in] the vector of the transform
rot	[in] the rotation of the transform

◆ Transform3DVector() [2/4]

Transform3DVector	(	const rw::math::Vector3D< T > &	vec,
		const rw::math::Rotation3DVector< T > &	rot
	)

inline

Constuct a Transformation matrix as a Vector.

Parameters

vec	[in] the vector of the transform
rot	[in] the rotation of the transform

◆ Transform3DVector() [3/4]

Transform3DVector ( const rw::math::Transform3D< T > & t3d )

inline

Constuct a Transform3DVector from a Transform3D.

Parameters

t3d	[in] Transform3D

◆ Transform3DVector() [4/4]

Transform3DVector ( const type & vec )

inline

Constuct a Transform3DVector from a EigenVector.

Parameters

vec	[in] Transform3D

Member Function Documentation

◆ e()

Eigen::Matrix<T, 7, 1>& e ( )

inline

get the underling eigen type

Returns: reference to eigen vector

◆ operator()() [1/2]

T& operator() ( size_t i )

inline

acces operator

Parameters

i	[in] index of the Vector

Returns: requested value

◆ operator()() [2/2]

T operator() ( size_t i ) const

inline

acces operator

Parameters

i	[in] index of the Vector

Returns: requested value

◆ operator*() [1/3]

Transform3DVector<T> operator* ( const rw::math::Quaternion< T > & rhs ) const

inline

element wise multiply a Quaternion with the Quaternion rotation of the transform

Parameters

rhs	[in] the right hand side value

Returns: result of multiplication

◆ operator*() [2/3]

rw::math::Vector3D<T> operator* ( const rw::math::Vector3D< T > & rhs ) const

inline

Matrix vector multiplication with Vector3D. Same as Transform3D<> * Vector3D<>;.

Parameters

rhs	[in] the right hand side value

Returns: result of multiplication

◆ operator*() [3/3]

Transform3DVector<T> operator* ( const T & rhs ) const

inline

Scalar multiplication.

Parameters

rhs	[in] the scalar to multiply with

Returns: product of the multiplication

◆ operator+() [1/4]

Transform3DVector<T> operator+ ( const rw::math::Quaternion< T > & rhs ) const

inline

add a Quaternion to the rotation of the transform

Parameters

rhs	[in] the right hand side value

Returns: result of devision

◆ operator+() [2/4]

Transform3DVector<T> operator+ ( const rw::math::Vector3D< T > & rhs ) const

inline

add a Vector3D to the position of the transform

Parameters

rhs	[in] the right hand side value

Returns: result of devision

◆ operator+() [3/4]

Transform3DVector<T> operator+ ( const T & rhs ) const

inline

Scalar addition.

Parameters

rhs	[in] the scalar to add

Returns: the sum

◆ operator+() [4/4]

Transform3DVector<T> operator+ ( const Transform3DVector< T > & rhs ) const

inline

element wise add two Transform3DVectors

Parameters

rhs	[in] the Transform3D vector to be added with

Returns: the sum of the two objects

◆ operator+=() [1/3]

Transform3DVector<T>& operator+= ( const rw::math::Quaternion< T > & rhs )

inline

add to the Roation of the transform

Parameters

rhs	the rotation to be added

Returns: a copy of this object

◆ operator+=() [2/3]

Transform3DVector<T>& operator+= ( const rw::math::Vector3D< T > & rhs )

inline

add to the position of the transform

Parameters

rhs	the new position

Returns: a copy of this object

◆ operator+=() [3/3]

Transform3DVector<T>& operator+= ( const Transform3DVector< T > & rhs )

inline

add to the transform

Parameters

rhs	the transform to be added

Returns: a copy of this object

◆ operator-() [1/4]

Transform3DVector<T> operator- ( const rw::math::Quaternion< T > & rhs ) const

inline

subtract a Quaternion from the rotation of the transform

Parameters

rhs	[in] the right hand side value

Returns: result of devision

◆ operator-() [2/4]

Transform3DVector<T> operator- ( const rw::math::Vector3D< T > & rhs ) const

inline

subtract a Vector3D from the position of the transform

Parameters

rhs	[in] the right hand side value

Returns: result of devision

◆ operator-() [3/4]

Transform3DVector<T> operator- ( const T & rhs ) const

inline

Scalar subtraction.

Parameters

rhs	[in] the scalar to subtract

Returns: the difference

◆ operator-() [4/4]

Transform3DVector<T> operator- ( const Transform3DVector< T > & rhs ) const

inline

element wise subtract two Transform3DVectors

Parameters

rhs	[in] the Transform3D vector to be subtracted with

Returns: the difference of the two objects

◆ operator-=() [1/3]

Transform3DVector<T>& operator-= ( const rw::math::Quaternion< T > & rhs )

inline

add to the Roation of the transform

Parameters

rhs	the rotation to be added

Returns: a copy of this object

◆ operator-=() [2/3]

Transform3DVector<T>& operator-= ( const rw::math::Vector3D< T > & rhs )

inline

subtract from the position of the transform

Parameters

rhs	the new position

Returns: a copy of this object

◆ operator-=() [3/3]

Transform3DVector<T>& operator-= ( const Transform3DVector< T > & rhs )

inline

subtract from the transform

Parameters

rhs	the transform to be subtracted

Returns: a copy of this object

◆ operator/() [1/2]

Transform3DVector<T> operator/ ( const rw::math::Quaternion< T > & rhs ) const

inline

element wise devide a Quaternion with the Quaternion rotation of the transform

Parameters

rhs	[in] the right hand side value

Returns: result of devision

◆ operator/() [2/2]

Transform3DVector<T> operator/ ( const T & rhs ) const

inline

Scalar devision.

Parameters

rhs	[in] the scalar to devide with

Returns: the result

◆ operator=() [1/5]

Transform3DVector<T>& operator= ( const rw::math::Quaternion< T > & rhs )

inline

Override the Roation of the transform.

Parameters

rhs	the new rotation

Returns: a copy of this object

◆ operator=() [2/5]

Transform3DVector<T>& operator= ( const rw::math::Transform3D< T > & rhs )

inline

convert and copy the transform

Parameters

rhs	the transform to copy

Returns: a copy of this object

◆ operator=() [3/5]

Transform3DVector<T>& operator= ( const rw::math::Vector3D< T > & rhs )

inline

Override the position of the transform.

Parameters

rhs	the new position

Returns: a copy of this object

◆ operator=() [4/5]

Transform3DVector<T>& operator= ( const Transform3DVector< T > & rhs )

inline

copy the transform

Parameters

rhs	the transform to copy

Returns: a copy of this object

◆ operator=() [5/5]

Transform3DVector<T>& operator= ( const type & rhs )

inline

copy the transform from an eigen vector

Parameters

rhs	the transform to copy

Returns: a copy of this object

◆ operator[]() [1/2]

T& operator[] ( size_t i )

inline

acces operator

Parameters

i	[in] index of the Vector

Returns: requested value

◆ operator[]() [2/2]

T operator[] ( size_t i ) const

inline

acces operator

Parameters

i	[in] index of the Vector

Returns: requested value

◆ size()

size_t size ( ) const

inline

get the size. Index 0-2 Vector, 3-6 Quaternion

Returns: always 7

◆ toEAA()

rw::math::EAA<T> toEAA ( ) const

inline

convert the rotation part to EAA

Returns: toration in EAA form

◆ toQuaternion()

rw::math::Quaternion<T> toQuaternion ( ) const

inline

get the Rotation of the transform

Returns: a copy of the quaternion rotation

◆ toTransform3D()

rw::math::Transform3D<T> toTransform3D ( ) const

inline

Returns the corresponding Trandforma3D matrix.

Returns: The transformation matrix

◆ toVector3D()

rw::math::Vector3D<T> toVector3D ( ) const

inline

get the position Vector of the transform

Returns: a copy of the position vector

Friends And Related Function Documentation

◆ operator*

Transform3DVector<T> operator*	(	const T &	lhs,
		const Transform3DVector< T > &	rhs
	)

friend

Scalar multiplication.

Parameters

lhs	[in] the scalar to multiply with
rhs	[in] the Transform3DVector being multiplied with a scalar

Returns: product of the multiplication

◆ operator+

Transform3DVector<T> operator+	(	const T &	lhs,
		const Transform3DVector< T > &	rhs
	)

friend

Scalar addition.

Parameters

lhs	[in] the scalar to subtraction
rhs	[in] the Transform3DVector being subtracted from

Returns: the difference

◆ operator-

Transform3DVector<T> operator-	(	const T &	lhs,
		const Transform3DVector< T > &	rhs
	)

friend

Scalar subtraction.

Parameters

lhs	[in] the scalar to subtract
rhs	[in] the Transform3DVector being subtracted from

Returns: the difference

◆ operator/

Transform3DVector<T> operator/	(	const T &	lhs,
		const Transform3DVector< T > &	rhs
	)

friend

Scalar devision.

Parameters

lhs	[in] the scalar to devide with
rhs	[in] the Transform3DVector being devided

Returns: the result

The documentation for this class was generated from the following file:

Transform3DVector.hpp

Public Types

Public Member Functions

Friends

Detailed Description

template<class T = double> class rw::math::Transform3DVector< T >

Constructor & Destructor Documentation

◆ Transform3DVector() [1/4]

◆ Transform3DVector() [2/4]

◆ Transform3DVector() [3/4]

◆ Transform3DVector() [4/4]

Member Function Documentation

◆ e()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator+() [1/4]

◆ operator+() [2/4]

◆ operator+() [3/4]

◆ operator+() [4/4]

◆ operator+=() [1/3]

◆ operator+=() [2/3]

◆ operator+=() [3/3]

◆ operator-() [1/4]

◆ operator-() [2/4]

◆ operator-() [3/4]

◆ operator-() [4/4]

◆ operator-=() [1/3]

◆ operator-=() [2/3]

◆ operator-=() [3/3]

◆ operator/() [1/2]

◆ operator/() [2/2]

◆ operator=() [1/5]

◆ operator=() [2/5]

◆ operator=() [3/5]

◆ operator=() [4/5]

◆ operator=() [5/5]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ size()

◆ toEAA()

◆ toQuaternion()

◆ toTransform3D()

◆ toVector3D()

Friends And Related Function Documentation

◆ operator*

◆ operator+

◆ operator-

◆ operator/

template<class T = double>
class rw::math::Transform3DVector< T >