Template base class for a 4x4 frame. More...

#include <vctFrame4x4ConstBase.h>

Inheritance diagram for vctFrame4x4ConstBase< _containerType >:

Public Types
enum	{ ROWS = 4 , COLS = 4 }
enum	{ DIMENSION = 3 }
enum	{ ROWSTRIDE = ContainerType::ROWSTRIDE , COLSTRIDE = ContainerType::COLSTRIDE }
typedef _containerType	BaseType
typedef _containerType	ContainerType
typedef vctFrame4x4ConstBase< ContainerType >	ThisType
typedef BaseType::RowValueType	RowValueType
typedef BaseType::ColumnValueType	ColumnValueType
typedef BaseType::RowRefType	RowRefType
typedef BaseType::ColumnRefType	ColumnRefType
typedef BaseType::ConstRowRefType	ConstRowRefType
typedef BaseType::ConstColumnRefType	ConstColumnRefType
typedef BaseType::DiagonalRefType	DiagonalRefType
typedef BaseType::ConstDiagonalRefType	ConstDiagonalRefType
typedef BaseType::RefTransposeType	RefTransposeType
typedef BaseType::ConstRefTransposeType	ConstRefTransposeType
typedef vctFrame4x4< value_type, COLSTRIDE<=ROWSTRIDE >	FrameValueType
typedef cmnTypeTraits< value_type >	TypeTraits
typedef vctFixedSizeVectorRef< value_type, DIMENSION, ROWSTRIDE >	TranslationRefType
typedef vctFixedSizeConstVectorRef< value_type, DIMENSION, ROWSTRIDE >	ConstTranslationRefType
typedef vctFixedSizeVectorRef< value_type, DIMENSION, COLSTRIDE >	PerspectiveRefType
typedef vctFixedSizeConstVectorRef< value_type, DIMENSION, COLSTRIDE >	ConstPerspectiveRefType
typedef vctMatrixRotation3Ref< value_type, ROWSTRIDE, COLSTRIDE >	RotationRefType
typedef vctMatrixRotation3ConstRef< value_type, ROWSTRIDE, COLSTRIDE >	ConstRotationRefType

Public Member Functions
	VCT_CONTAINER_TRAITS_TYPEDEFS (typename ContainerType::value_type)
	vctFrame4x4ConstBase (void)
ConstTranslationRefType	Translation (void) const
ConstRotationRefType	Rotation (void) const
ConstPerspectiveRefType	Perspective (void) const
FrameValueType	Inverse (void) const
bool	IsNormalized (value_type tolerance=TypeTraits::Tolerance()) const
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>
void	ApplyTo (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &input, vctFixedSizeVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &output) const
template<stride_type __stride, class __dataPtrType>
vctFixedSizeVector< value_type, DIMENSION >	ApplyTo (const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &input) const
template<class __containerType1, class __containerType2>
void	ApplyTo (const vctFrame4x4ConstBase< __containerType1 > &input, vctFrame4x4Base< __containerType2 > &output) const
template<class __containerType>
FrameValueType	ApplyTo (const vctFrame4x4ConstBase< __containerType > &input) const
template<class __vectorOwnerType1, class __vectorOwnerType2>
void	ApplyTo (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &input, vctDynamicVectorBase< __vectorOwnerType2, value_type > &output) const
template<size_type __cols, stride_type __rowStride1, stride_type __colStride1, class __dataPtrType1, stride_type __rowStride2, stride_type __colStride2, class __dataPtrType2>
void	ApplyTo (const vctFixedSizeConstMatrixBase< DIMENSION, __cols, __rowStride1, __colStride1, value_type, __dataPtrType1 > &input, vctFixedSizeMatrixBase< DIMENSION, __cols, __rowStride2, __colStride2, value_type, __dataPtrType2 > &output) const
void	ApplyTo (size_type inputSize, const vctFixedSizeVector< value_type, DIMENSION > input, vctFixedSizeVector< value_type, DIMENSION > output) const
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>
void	ApplyInverseTo (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &input, vctFixedSizeVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &output) const
template<class __vectorOwnerType1, class __vectorOwnerType2>
void	ApplyInverseTo (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &input, vctDynamicVectorBase< __vectorOwnerType2, value_type > &output) const
template<stride_type __stride, class __dataPtrType>
vctFixedSizeVector< value_type, DIMENSION >	ApplyInverseTo (const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &input) const
template<class __containerType1, class __containerType2>
void	ApplyInverseTo (const vctFrame4x4ConstBase< __containerType1 > &input, vctFrame4x4Base< __containerType2 > &output) const
template<class __containerType>
FrameValueType	ApplyInverseTo (const vctFrame4x4ConstBase< __containerType > &input) const
bool	Equal (const ThisType &other) const
bool	operator== (const ThisType &other) const
bool	AlmostEqual (const ThisType &other, value_type tolerance=TypeTraits::Tolerance()) const
bool	AlmostEquivalent (const ThisType &other, value_type tolerance=TypeTraits::Tolerance()) const

Static Public Member Functions
static CISST_EXPORT const FrameValueType &	Identity (void)

Protected Member Functions
void	UpdateReferences (void)

Protected Attributes
RotationRefType	RotationRef
TranslationRefType	TranslationRef
PerspectiveRefType	PerspectiveRef

Detailed Description

template<class _containerType>
class vctFrame4x4ConstBase< _containerType >

Template base class for a 4x4 frame.

This class allows to use a 4 by 4 matrix as a frame in 3D. This is a limited case of the so called homegenous transformations as this class is intended to support only the translation and rotation parts of the transformation. It is not intended to support perspective or scaling operations. The different constructors and normalization methods provided will set the last row to [0 0 0 1].

Parameters

_matrixType The type of matrix used to store the elements

See also: vctDynamicMatrix, vctFixedSizeMatrix, vctFrameBase

Member Typedef Documentation

◆ BaseType

template<class _containerType>

typedef _containerType vctFrame4x4ConstBase< _containerType >::BaseType

◆ ColumnRefType

template<class _containerType>

typedef BaseType::ColumnRefType vctFrame4x4ConstBase< _containerType >::ColumnRefType

◆ ColumnValueType

template<class _containerType>

typedef BaseType::ColumnValueType vctFrame4x4ConstBase< _containerType >::ColumnValueType

◆ ConstColumnRefType

template<class _containerType>

typedef BaseType::ConstColumnRefType vctFrame4x4ConstBase< _containerType >::ConstColumnRefType

◆ ConstDiagonalRefType

template<class _containerType>

typedef BaseType::ConstDiagonalRefType vctFrame4x4ConstBase< _containerType >::ConstDiagonalRefType

◆ ConstPerspectiveRefType

template<class _containerType>

typedef vctFixedSizeConstVectorRef<value_type, DIMENSION, COLSTRIDE> vctFrame4x4ConstBase< _containerType >::ConstPerspectiveRefType

◆ ConstRefTransposeType

template<class _containerType>

typedef BaseType::ConstRefTransposeType vctFrame4x4ConstBase< _containerType >::ConstRefTransposeType

◆ ConstRotationRefType

template<class _containerType>

typedef vctMatrixRotation3ConstRef<value_type, ROWSTRIDE, COLSTRIDE> vctFrame4x4ConstBase< _containerType >::ConstRotationRefType

◆ ConstRowRefType

template<class _containerType>

typedef BaseType::ConstRowRefType vctFrame4x4ConstBase< _containerType >::ConstRowRefType

◆ ConstTranslationRefType

template<class _containerType>

typedef vctFixedSizeConstVectorRef<value_type, DIMENSION, ROWSTRIDE> vctFrame4x4ConstBase< _containerType >::ConstTranslationRefType

◆ ContainerType

template<class _containerType>

typedef _containerType vctFrame4x4ConstBase< _containerType >::ContainerType

◆ DiagonalRefType

template<class _containerType>

typedef BaseType::DiagonalRefType vctFrame4x4ConstBase< _containerType >::DiagonalRefType

◆ FrameValueType

template<class _containerType>

typedef vctFrame4x4<value_type, COLSTRIDE <= ROWSTRIDE> vctFrame4x4ConstBase< _containerType >::FrameValueType

◆ PerspectiveRefType

template<class _containerType>

typedef vctFixedSizeVectorRef<value_type, DIMENSION, COLSTRIDE> vctFrame4x4ConstBase< _containerType >::PerspectiveRefType

◆ RefTransposeType

template<class _containerType>

typedef BaseType::RefTransposeType vctFrame4x4ConstBase< _containerType >::RefTransposeType

◆ RotationRefType

template<class _containerType>

typedef vctMatrixRotation3Ref<value_type, ROWSTRIDE, COLSTRIDE> vctFrame4x4ConstBase< _containerType >::RotationRefType

◆ RowRefType

template<class _containerType>

typedef BaseType::RowRefType vctFrame4x4ConstBase< _containerType >::RowRefType

◆ RowValueType

template<class _containerType>

typedef BaseType::RowValueType vctFrame4x4ConstBase< _containerType >::RowValueType

◆ ThisType

template<class _containerType>

typedef vctFrame4x4ConstBase<ContainerType> vctFrame4x4ConstBase< _containerType >::ThisType

◆ TranslationRefType

template<class _containerType>

typedef vctFixedSizeVectorRef<value_type, DIMENSION, ROWSTRIDE> vctFrame4x4ConstBase< _containerType >::TranslationRefType

◆ TypeTraits

template<class _containerType>

typedef cmnTypeTraits<value_type> vctFrame4x4ConstBase< _containerType >::TypeTraits

Member Enumeration Documentation

◆ anonymous enum

template<class _containerType>

anonymous enum

Enumerator
DIMENSION

◆ anonymous enum

template<class _containerType>

anonymous enum

Enumerator
ROWSTRIDE
COLSTRIDE

◆ anonymous enum

template<class _containerType>

anonymous enum

Enumerator
ROWS
COLS

Constructor & Destructor Documentation

◆ vctFrame4x4ConstBase()

template<class _containerType>

vctFrame4x4ConstBase< _containerType >::vctFrame4x4ConstBase ( void )

inline

Default constructor. Updates internal references.

Member Function Documentation

◆ AlmostEqual()

template<class _containerType>

bool vctFrame4x4ConstBase< _containerType >::AlmostEqual	(	const ThisType &	other,
		value_type	tolerance = TypeTraits::Tolerance() ) const

inline

Return true if this transformation is equal to the other transformation, up to the given tolerance. The result is based on the AllowsEqual() methods provided by the different rotation representations (vctQuaternionRotation3, vctMatrixRotation3, ...) and the translation.

The tolerance factor is used to compare both the translations and rotations.

See also: AlmostEquivalent

◆ AlmostEquivalent()

template<class _containerType>

bool vctFrame4x4ConstBase< _containerType >::AlmostEquivalent	(	const ThisType &	other,
		value_type	tolerance = TypeTraits::Tolerance() ) const

inline

Return true if this frame is effectively equivalent to the other frame, up to the given tolerance. For an homogeneous frame, this method uses AlmostEqual.

See also: AlmostEqual

◆ ApplyInverseTo() [1/5]

template<class _containerType>

template<class __vectorOwnerType1, class __vectorOwnerType2>

void vctFrame4x4ConstBase< _containerType >::ApplyInverseTo	(	const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &	input,
		vctDynamicVectorBase< __vectorOwnerType2, value_type > &	output ) const

inline

Apply the inverse of the transformation to a vector of fixed size DIMENSION. The result is stored into a vector of size DIMENSION provided by the caller and passed by reference.

Parameters

input	The input vector
output	The output vector

◆ ApplyInverseTo() [2/5]

template<class _containerType>

template<stride_type __stride, class __dataPtrType>

vctFixedSizeVector< value_type, DIMENSION > vctFrame4x4ConstBase< _containerType >::ApplyInverseTo ( const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > & input ) const

inline

Apply the the inverse of the transformation to a vector of fixed size DIMENSION. The result is returned by copy. This interface might be more convenient for some but one should note that it is less efficient since it requires a copy.

Parameters

input The input vector

Returns: The output vector

◆ ApplyInverseTo() [3/5]

template<class _containerType>

template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>

void vctFrame4x4ConstBase< _containerType >::ApplyInverseTo	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &	input,
		vctFixedSizeVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &	output ) const

inline

◆ ApplyInverseTo() [4/5]

template<class _containerType>

template<class __containerType>

FrameValueType vctFrame4x4ConstBase< _containerType >::ApplyInverseTo ( const vctFrame4x4ConstBase< __containerType > & input ) const

inline

◆ ApplyInverseTo() [5/5]

template<class _containerType>

template<class __containerType1, class __containerType2>

void vctFrame4x4ConstBase< _containerType >::ApplyInverseTo	(	const vctFrame4x4ConstBase< __containerType1 > &	input,
		vctFrame4x4Base< __containerType2 > &	output ) const

inline

◆ ApplyTo() [1/7]

template<class _containerType>

template<class __vectorOwnerType1, class __vectorOwnerType2>

void vctFrame4x4ConstBase< _containerType >::ApplyTo	(	const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &	input,
		vctDynamicVectorBase< __vectorOwnerType2, value_type > &	output ) const

inline

Apply the transformation to a dynamic vector. The result is stored into another dynamic vector. It is assumed that both are of size DIMENSION.

◆ ApplyTo() [2/7]

template<class _containerType>

template<size_type __cols, stride_type __rowStride1, stride_type __colStride1, class __dataPtrType1, stride_type __rowStride2, stride_type __colStride2, class __dataPtrType2>

void vctFrame4x4ConstBase< _containerType >::ApplyTo	(	const vctFixedSizeConstMatrixBase< DIMENSION, __cols, __rowStride1, __colStride1, value_type, __dataPtrType1 > &	input,
		vctFixedSizeMatrixBase< DIMENSION, __cols, __rowStride2, __colStride2, value_type, __dataPtrType2 > &	output ) const

inline

Apply this transform to a matrix of three rows

◆ ApplyTo() [3/7]

template<class _containerType>

template<stride_type __stride, class __dataPtrType>

vctFixedSizeVector< value_type, DIMENSION > vctFrame4x4ConstBase< _containerType >::ApplyTo ( const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > & input ) const

inline

Apply the transformation to a vector of fixed size DIMENSION. The result is returned by copy. This interface might be more convenient for some but one should note that it is less efficient since it requires a copy.

Parameters

input The input vector

Returns: The output vector

◆ ApplyTo() [4/7]

template<class _containerType>

template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2>

void vctFrame4x4ConstBase< _containerType >::ApplyTo	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &	input,
		vctFixedSizeVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &	output ) const

inline

Apply the transformation to a vector of fixed size DIMENSION. The result is stored into a vector of size DIMENSION provided by the caller and passed by reference.

Parameters

input	The input vector
output	The output vector

◆ ApplyTo() [5/7]

template<class _containerType>

template<class __containerType>

FrameValueType vctFrame4x4ConstBase< _containerType >::ApplyTo ( const vctFrame4x4ConstBase< __containerType > & input ) const

inline

Apply the transformation to another transformation. The result is returned by copy. This interface might be more convenient for some but one should note that it is less efficient since it requires a copy.

Parameters

input The input transformation

Returns: The output transformation

◆ ApplyTo() [6/7]

template<class _containerType>

template<class __containerType1, class __containerType2>

void vctFrame4x4ConstBase< _containerType >::ApplyTo	(	const vctFrame4x4ConstBase< __containerType1 > &	input,
		vctFrame4x4Base< __containerType2 > &	output ) const

inline

Compose this transform over the input transform to obtain a new output transform passed by reference by the caller. The semantics of the operation are:

output = (*this) * input

if (*this) is [R1 | p1], input is [R2 | p2], then output will be [R1*R2 | R1*p2 + p1]

◆ ApplyTo() [7/7]

template<class _containerType>

void vctFrame4x4ConstBase< _containerType >::ApplyTo	(	size_type	inputSize,
		const vctFixedSizeVector< value_type, DIMENSION > *	input,
		vctFixedSizeVector< value_type, DIMENSION > *	output ) const

inline

Apply this transform to an array of DIMENSION-vectors given as a pointer and a size. This method can be generalized to be templated with different vector types, defined by strides and dataPtrType. For simplicity, this version is writtend for a DIMENSION-vector object.

◆ Equal()

template<class _containerType>

bool vctFrame4x4ConstBase< _containerType >::Equal ( const ThisType & other ) const

inline

Return true if this transformation is exactly equal to the other transformation. The result is based on the Equal() methods provided by the different rotation representations (vctQuaternionRotation3, vctMatrixRotation3, ...) and the translation.

See also: AlmostEqual

◆ Identity()

template<class _containerType>

CISST_EXPORT const FrameValueType & vctFrame4x4ConstBase< _containerType >::Identity ( void )

static

Const reference to the identity. In this case, the translation is set to (0, 0, 0) and the rotation is set to identity using its own method RotationType::Identity().

◆ Inverse()

template<class _containerType>

vctFrame4x4ConstBase< _containerType >::FrameValueType vctFrame4x4ConstBase< _containerType >::Inverse ( void ) const

inline

◆ IsNormalized()

template<class _containerType>

bool vctFrame4x4ConstBase< _containerType >::IsNormalized ( value_type tolerance = TypeTraits::Tolerance() ) const

inline

Test if the rotation part is normalized and the last row is almost equal to [0 0 0 1]. See vctMatrixRotation3ConstBase::IsNormalized and vctFixedSizeConstVectorBase::AlmostEqual.

Parameters

tolerance Tolerance for the norm and scalar product tests.

◆ operator==()

template<class _containerType>

bool vctFrame4x4ConstBase< _containerType >::operator== ( const ThisType & other ) const

inline

◆ Perspective()

template<class _containerType>

ConstPerspectiveRefType vctFrame4x4ConstBase< _containerType >::Perspective ( void ) const

inline

◆ Rotation()

template<class _containerType>

ConstRotationRefType vctFrame4x4ConstBase< _containerType >::Rotation ( void ) const

inline

◆ Translation()

template<class _containerType>

ConstTranslationRefType vctFrame4x4ConstBase< _containerType >::Translation ( void ) const

inline

◆ UpdateReferences()

template<class _containerType>

void vctFrame4x4ConstBase< _containerType >::UpdateReferences ( void )

inlineprotected

Update internal references to rotation matrix, translation vector and first 3 elements of last row. This method is called by allocate, so make sure that any specialization of Allocate includes a call to UpdateReferences.

◆ VCT_CONTAINER_TRAITS_TYPEDEFS()

template<class _containerType>

vctFrame4x4ConstBase< _containerType >::VCT_CONTAINER_TRAITS_TYPEDEFS ( typename ContainerType::value_type )

Member Data Documentation

◆ PerspectiveRef

template<class _containerType>

PerspectiveRefType vctFrame4x4ConstBase< _containerType >::PerspectiveRef

protected

◆ RotationRef

template<class _containerType>

RotationRefType vctFrame4x4ConstBase< _containerType >::RotationRef

protected

◆ TranslationRef

template<class _containerType>

TranslationRefType vctFrame4x4ConstBase< _containerType >::TranslationRef

protected

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

tmp/cisst-saw/cisst/cisstVector/vctForwardDeclarations.h
tmp/cisst-saw/cisst/cisstVector/vctFrame4x4ConstBase.h
tmp/cisst-saw/cisst/cisstVector/vctFrame4x4.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ BaseType

◆ ColumnRefType

◆ ColumnValueType

◆ ConstColumnRefType

◆ ConstDiagonalRefType

◆ ConstPerspectiveRefType

◆ ConstRefTransposeType

◆ ConstRotationRefType

◆ ConstRowRefType

◆ ConstTranslationRefType

◆ ContainerType

◆ DiagonalRefType

◆ FrameValueType

◆ PerspectiveRefType

◆ RefTransposeType

◆ RotationRefType

◆ RowRefType

◆ RowValueType

◆ ThisType

◆ TranslationRefType

◆ TypeTraits

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ vctFrame4x4ConstBase()

Member Function Documentation

◆ AlmostEqual()

◆ AlmostEquivalent()

◆ ApplyInverseTo() [1/5]

◆ ApplyInverseTo() [2/5]

◆ ApplyInverseTo() [3/5]

◆ ApplyInverseTo() [4/5]

◆ ApplyInverseTo() [5/5]

◆ ApplyTo() [1/7]

◆ ApplyTo() [2/7]

◆ ApplyTo() [3/7]

◆ ApplyTo() [4/7]

◆ ApplyTo() [5/7]

◆ ApplyTo() [6/7]

◆ ApplyTo() [7/7]

◆ Equal()

◆ Identity()

◆ Inverse()

◆ IsNormalized()

◆ operator==()

◆ Perspective()

◆ Rotation()

◆ Translation()

◆ UpdateReferences()

◆ VCT_CONTAINER_TRAITS_TYPEDEFS()

Member Data Documentation

◆ PerspectiveRef

◆ RotationRef

◆ TranslationRef