Class spatial_transformation::Transformation¶

class Transformation¶

Represents a 3d transformation.

The transformation consists of a rotation R and a translation T with the rotation being applied first. So the transformed version v’ of a vector v is computed as v' = R*v + T.

Public Functions

Transformation()¶: Construct an identity transformation.

Transformation(const Eigen::Quaterniond &rotation, const Eigen::Vector3d &translation)¶: Construct transformation from the given rotation and translation.

Transformation operator*(const Transformation &other) const¶: Compose this transformation with the other.

Eigen::Vector3d operator*(const Eigen::Vector3d &vec) const¶: Apply the transformation on the given vector (same as apply).

Eigen::Vector3d apply(const Eigen::Vector3d &vec) const¶: Apply the transformation on the given vector.

Transformation inverse() const¶: Invert the transformation.

Eigen::Matrix4d matrix() const¶: Convert transformation to a homogeneous matrix (4x4).

Eigen::Isometry3d isometry() const¶: Convert transformation to an isometry.

template<class Archive> inline void serialize(Archive &archive)¶

Transformation(): Construct an identity transformation.

Transformation(const Eigen::Quaterniond &rotation, const Eigen::Vector3d &translation): Construct transformation from the given rotation and translation.

Transformation operator*(const Transformation &other) const: Compose this transformation with the other.

Eigen::Vector3d operator*(const Eigen::Vector3d &vec) const: Apply the transformation on the given vector (same as apply).

Eigen::Vector3d apply(const Eigen::Vector3d &vec) const: Apply the transformation on the given vector.

Transformation inverse() const: Invert the transformation.

Eigen::Matrix4d matrix() const: Convert transformation to a homogeneous matrix (4x4).

Eigen::Isometry3d isometry() const: Convert transformation to an isometry.

template<class Archive> inline void serialize(Archive &archive)

Public Members

Eigen::Quaterniond rotation¶: Rotation part of the transformation.

Eigen::Vector3d translation¶: Translation part of the transformation.

Public Static Functions

static Transformation fromRotation(const Eigen::Quaterniond &rotation)¶: Construct transformation using only a rotation (translation is set to zero).

static Transformation fromTranslation(const Eigen::Vector3d &translation)¶: Construct transformation using only a translation.

static Transformation Identity()¶: Construct an identity transformation.

static Transformation fromRotation(const Eigen::Quaterniond &rotation): Construct transformation using only a rotation (translation is set to zero).

static Transformation fromTranslation(const Eigen::Vector3d &translation): Construct transformation using only a translation.

static Transformation Identity(): Construct an identity transformation.