dlr::numeric::Transform3D Class Reference

The Transform3D class represents a homogeneous coordinate transform from one 3D coordinate system to another 3D coordinate system. More...

#include <transform3D.h>

List of all members.

Public Member Functions

Transform3D ()

Default constructor.

Transform3D (double a00, double a01, double a02, double a03, double a10, double a11, double a12, double a13, double a20, double a21, double a22, double a23, double a30, double a31, double a32, double a33)

Build a Transform3D instance by explicitly setting element values as if setting the elements of a 4x4 transformation matrix: [[a00, a01, a02, a03], [a10, a11, a12, a13], [a20, a21, a22, a23], [a30, a31, a32, a33]].

Transform3D (const Array2D< double > &source)

Build a Transform3D from a homogeneous 4x4 matrix.

Transform3D (const Transform3D &src)

The copy constructor simply duplicates its argument.

~Transform3D ()

Destructor.

Transform3DFunctor getFunctor () const

This member function returns a functor which makes it easier to transform arrays of points using algorithms such as std::transform().

template<size_t row, size_t column>

double getValue () const

This member function returns one element from the matrix representation of the coordinate transform by value.

Transform3D invert () const

This member function returns the inverse of *this.

void setTransform (double a00, double a01, double a02, double a03, double a10, double a11, double a12, double a13, double a20, double a21, double a22, double a23, double a30, double a31, double a32, double a33)

Change the Transform3D value by explicitly setting element values as if setting the elements of a 4x4 transformation matrix: [[a00, a01, a02, a03], [a10, a11, a12, a13], [a20, a21, a22, a23], [a30, a31, a32, a33]].

void setValue (size_t row, size_t column, double value)

This member function sets one element of the matrix representation of the coordinate transform.

template<size_t row, size_t column>

void setValue (double value)

This member function sets one element from the matrix representation of the coordinate transform.

void setValue (double a00, double a01, double a02, double a03, double a10, double a11, double a12, double a13, double a20, double a21, double a22, double a23, double a30, double a31, double a32, double a33)

This member function is an alias for member function setTransform().

template<size_t row, size_t column>

double value () const

This member function returns one element from the matrix representation of the coordinate transform by value.

double operator() (size_t row, size_t column) const

This operator returns one element from the matrix representation of the coordinate transform by value.

Vector3D operator* (const Vector3D &vector0) const

This operator takes a point and applies the coordinate transform, returning the result.

Transform3D & operator= (const Transform3D &source)

The assignment operator simply duplicates its argument.

Detailed Description

The Transform3D class represents a homogeneous coordinate transform from one 3D coordinate system to another 3D coordinate system.

Definition at line 34 of file transform3D.h.

Constructor & Destructor Documentation

dlr::numeric::Transform3D::Transform3D ( ) [inline]

Default constructor.

Initializes to identity.

Definition at line 41 of file transform3D.h.

Referenced by invert().

dlr::numeric::Transform3D::Transform3D	(	double	a00,
		double	a01,
		double	a02,
		double	a03,
		double	a10,
		double	a11,
		double	a12,
		double	a13,
		double	a20,
		double	a21,
		double	a22,
		double	a23,
		double	a30,
		double	a31,
		double	a32,
		double	a33
	)			`[inline]`

Build a Transform3D instance by explicitly setting element values as if setting the elements of a 4x4 transformation matrix: [[a00, a01, a02, a03], [a10, a11, a12, a13], [a20, a21, a22, a23], [a30, a31, a32, a33]].

Parameters:

	a00	The value of one element of the transformation matrix.
	a01	The value of one element of the transformation matrix.
	a02	The value of one element of the transformation matrix.
	a03	The value of one element of the transformation matrix.
	a10	The value of one element of the transformation matrix.
	a11	The value of one element of the transformation matrix.
	a12	The value of one element of the transformation matrix.
	a13	The value of one element of the transformation matrix.
	a20	The value of one element of the transformation matrix.
	a21	The value of one element of the transformation matrix.
	a22	The value of one element of the transformation matrix.
	a23	The value of one element of the transformation matrix.
	a30	The value of one element of the transformation matrix.
	a31	The value of one element of the transformation matrix.
	a32	The value of one element of the transformation matrix.
	a33	The value of one element of the transformation matrix.

Definition at line 73 of file transform3D.h.

dlr::numeric::Transform3D::Transform3D ( const Array2D< double > & source )

Build a Transform3D from a homogeneous 4x4 matrix.

Parameters:

source

A 2D array containing the elements of the desired homogeneous transformation.

Definition at line 23 of file transform3D.cpp.

References dlr::numeric::Array2D< Type >::columns(), and dlr::numeric::Array2D< Type >::rows().

dlr::numeric::Transform3D::Transform3D ( const Transform3D & src ) [inline]

The copy constructor simply duplicates its argument.

Parameters:

src

This is the Transform3D instance to be copied.

Definition at line 98 of file transform3D.h.

dlr::numeric::Transform3D::~Transform3D ( ) [inline]

Destructor.

Definition at line 107 of file transform3D.h.

Member Function Documentation

Transform3DFunctor dlr::numeric::Transform3D::getFunctor ( ) const

This member function returns a functor which makes it easier to transform arrays of points using algorithms such as std::transform().

For example:

 std::transform(myPoints.begin(), myPoints.end(), myNewPoints.begin(),
                myTransform.getFunctor());

Returns:: The return value is a functor instance which will transform points according to the current value of *this. The functor will contain a copy of *this, so that subsequent changes to *this will not affect the functor.

Definition at line 45 of file transform3D.cpp.

template<size_t row, size_t column>

double dlr::numeric::Transform3D::getValue ( ) const [inline]

This member function returns one element from the matrix representation of the coordinate transform by value.

Note that indexing is zero-based. For example, calling myTransform3D.value<1, 2>() will return the element from the 2nd row, 3rd column of the matrix representation of the coordinate transformation. Indexing using this function is faster than operator()(), but the indices must be known at compile time. This is an alias for member function template value<row, column>().

Returns:: The value of the requested element.

Definition at line 144 of file transform3D.h.

Transform3D dlr::numeric::Transform3D::invert ( ) const

This member function returns the inverse of *this.

It is an error if *this is not invertible.

Returns:: The return value is the inverse of *this.

Definition at line 53 of file transform3D.cpp.

References Transform3D().

double dlr::numeric::Transform3D::operator()	(	size_t	row,
		size_t	column
	)			const

This operator returns one element from the matrix representation of the coordinate transform by value.

If blindingly fast execution is important, consider using value<size_t, size_t>() member function.

Parameters:

	row	The row of the requested element.
	column	The column of the requested element.

Returns:: The value of the requested element.

Definition at line 215 of file transform3D.cpp.

Vector3D dlr::numeric::Transform3D::operator* ( const Vector3D & vector0 ) const

This operator takes a point and applies the coordinate transform, returning the result.

Parameters:

vector0

The point to be transformed.

Returns:: The result of the transformation.

Definition at line 271 of file transform3D.cpp.

References dlr::numeric::Vector3D::x(), dlr::numeric::Vector3D::y(), and dlr::numeric::Vector3D::z().

Transform3D & dlr::numeric::Transform3D::operator= ( const Transform3D & source )

The assignment operator simply duplicates its argument.

Parameters:

source

This is the Transform3D instance to be copied.

Returns:: A reference to *this.

Definition at line 284 of file transform3D.cpp.

References m_00, m_01, m_02, m_03, m_10, m_11, m_12, m_13, m_20, m_21, m_22, m_23, m_30, m_31, and m_32.

void dlr::numeric::Transform3D::setTransform	(	double	a00,
		double	a01,
		double	a02,
		double	a03,
		double	a10,
		double	a11,
		double	a12,
		double	a13,
		double	a20,
		double	a21,
		double	a22,
		double	a23,
		double	a30,
		double	a31,
		double	a32,
		double	a33
	)

Change the Transform3D value by explicitly setting element values as if setting the elements of a 4x4 transformation matrix: [[a00, a01, a02, a03], [a10, a11, a12, a13], [a20, a21, a22, a23], [a30, a31, a32, a33]].

Parameters:

	a00	The value of one element of the transformation matrix.
	a01	The value of one element of the transformation matrix.
	a02	The value of one element of the transformation matrix.
	a03	The value of one element of the transformation matrix.
	a10	The value of one element of the transformation matrix.
	a11	The value of one element of the transformation matrix.
	a12	The value of one element of the transformation matrix.
	a13	The value of one element of the transformation matrix.
	a20	The value of one element of the transformation matrix.
	a21	The value of one element of the transformation matrix.
	a22	The value of one element of the transformation matrix.
	a23	The value of one element of the transformation matrix.
	a30	The value of one element of the transformation matrix.
	a31	The value of one element of the transformation matrix.
	a32	The value of one element of the transformation matrix.
	a33	The value of one element of the transformation matrix.

Definition at line 145 of file transform3D.cpp.

Referenced by dlr::numeric::operator>>(), and setValue().

void dlr::numeric::Transform3D::setValue	(	double	a00,
		double	a01,
		double	a02,
		double	a03,
		double	a10,
		double	a11,
		double	a12,
		double	a13,
		double	a20,
		double	a21,
		double	a22,
		double	a23,
		double	a30,
		double	a31,
		double	a32,
		double	a33
	)			`[inline]`

This member function is an alias for member function setTransform().

Definition at line 240 of file transform3D.h.

References setTransform().

template<size_t ROW, size_t COLUMN>

void dlr::numeric::Transform3D::setValue ( double value ) [inline]

This member function sets one element from the matrix representation of the coordinate transform.

Note that indexing is zero-based. For example, calling myTransform3D.setValue<1, 2>(5.0) will set the element from the 2nd row, 3rd column of the matrix representation of the coordinate transformation to 5.0.

It is not permitted to set the value of the lower-right element of the matrix: setValue<3, 3>(double) will throw an IndexException.

Parameters:

value

This argument specifies the value to be copied into the matrix element at the specified row & column.

Definition at line 431 of file transform3D.h.

void dlr::numeric::Transform3D::setValue	(	size_t	row,
		size_t	column,
		double	value
	)

This member function sets one element of the matrix representation of the coordinate transform.

Note that indexing is zero-based. For example, calling myTransform3D.setValue(1, 2, 5.0) will set the element from the 2nd row, 3rd column of the matrix representation of the coordinate transformation to 5.0. If blindingly fast execution is important, consider using the setValue<size_t, size_t>(double) member function instead.

It is not permitted to set the value of the lower-right element of the matrix: setValue(3, 3, ...) will throw an IndexException.

Parameters:

	row	This argument specifies the row of the matrix element to be modified.
	column	This argument specifies the row of the matrix element to be modified.
	value	This argument specifies the value to be copied into the matrix element at the specified row & column.

Definition at line 163 of file transform3D.cpp.

template<size_t ROW, size_t COLUMN>

double dlr::numeric::Transform3D::value ( ) const [inline]

This member function returns one element from the matrix representation of the coordinate transform by value.

Note that indexing is zero-based. For example, calling myTransform3D.value<1, 2>() will return the element from the 2nd row, 3rd column of the matrix representation of the coordinate transformation.

Returns:: The value of the requested element.

Definition at line 486 of file transform3D.h.

Referenced by dlr::numeric::operator*(), and dlr::numeric::operator<<().

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


Public Member Functions
	Transform3D ()
	Default constructor.
	Transform3D (double a00, double a01, double a02, double a03, double a10, double a11, double a12, double a13, double a20, double a21, double a22, double a23, double a30, double a31, double a32, double a33)
	Build a Transform3D instance by explicitly setting element values as if setting the elements of a 4x4 transformation matrix: [[a00, a01, a02, a03], [a10, a11, a12, a13], [a20, a21, a22, a23], [a30, a31, a32, a33]].
	Transform3D (const Array2D< double > &source)
	Build a Transform3D from a homogeneous 4x4 matrix.
	Transform3D (const Transform3D &src)
	The copy constructor simply duplicates its argument.
	~Transform3D ()
	Destructor.
Transform3DFunctor	getFunctor () const
	This member function returns a functor which makes it easier to transform arrays of points using algorithms such as std::transform().
template<size_t row, size_t column>
double	getValue () const
	This member function returns one element from the matrix representation of the coordinate transform by value.
Transform3D	invert () const
	This member function returns the inverse of *this.
void	setTransform (double a00, double a01, double a02, double a03, double a10, double a11, double a12, double a13, double a20, double a21, double a22, double a23, double a30, double a31, double a32, double a33)
	Change the Transform3D value by explicitly setting element values as if setting the elements of a 4x4 transformation matrix: [[a00, a01, a02, a03], [a10, a11, a12, a13], [a20, a21, a22, a23], [a30, a31, a32, a33]].
void	setValue (size_t row, size_t column, double value)
	This member function sets one element of the matrix representation of the coordinate transform.
template<size_t row, size_t column>
void	setValue (double value)
	This member function sets one element from the matrix representation of the coordinate transform.
void	setValue (double a00, double a01, double a02, double a03, double a10, double a11, double a12, double a13, double a20, double a21, double a22, double a23, double a30, double a31, double a32, double a33)
	This member function is an alias for member function setTransform().
template<size_t row, size_t column>
double	value () const
	This member function returns one element from the matrix representation of the coordinate transform by value.
double	operator() (size_t row, size_t column) const
	This operator returns one element from the matrix representation of the coordinate transform by value.
Vector3D	operator* (const Vector3D &vector0) const
	This operator takes a point and applies the coordinate transform, returning the result.
Transform3D &	operator= (const Transform3D &source)
	The assignment operator simply duplicates its argument.