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

#include <vctForwardDeclarations.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;protected:RotationRefType RotationRef;TranslationRefType TranslationRef;PerspectiveRefType PerspectiveRef;inline void UpdateReferences(void){RotationRef.SetRef(this-> Pointer(0, 0));TranslationRef.SetRef(this-> Pointer(0, DIMENSION));PerspectiveRef.SetRef(this-> Pointer(DIMENSION, 0));}public:vctFrame4x4ConstBase(void){this->	UpdateReferences ()

Public Member Functions
	VCT_CONTAINER_TRAITS_TYPEDEFS (typename ContainerType::value_type)

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	AlmostEqual (const ThisType &other, value_type tolerance=TypeTraits::Tolerance()) const

bool	AlmostEquivalent (const ThisType &other, value_type tolerance=TypeTraits::Tolerance()) const


bool	Equal (const ThisType &other) const

bool	operator== (const ThisType &other) const

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

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

template<class _containerType>

typedef _containerType vctFrame4x4ConstBase< _containerType >::BaseType

template<class _containerType>

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

template<class _containerType>

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

template<class _containerType>

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

template<class _containerType>

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

template<class _containerType>

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

template<class _containerType>

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

template<class _containerType>

typedef _containerType vctFrame4x4ConstBase< _containerType >::ContainerType

template<class _containerType>

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

template<class _containerType>

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

template<class _containerType>

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

template<class _containerType>

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

template<class _containerType>

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

template<class _containerType>

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;protected: RotationRefType RotationRef; TranslationRefType TranslationRef; PerspectiveRefType PerspectiveRef; inline void UpdateReferences(void) { RotationRef.SetRef(this->Pointer(0, 0)); TranslationRef.SetRef(this->Pointer(0, DIMENSION)); PerspectiveRef.SetRef(this->Pointer(DIMENSION, 0)); }public: vctFrame4x4ConstBase(void) { this-> vctFrame4x4ConstBase< _containerType >::UpdateReferences()

Member Enumeration Documentation

template<class _containerType>

anonymous enum

Enumerator
ROWS
COLS

template<class _containerType>

anonymous enum

Enumerator
DIMENSION

template<class _containerType>

anonymous enum

Enumerator
ROWSTRIDE
COLSTRIDE

Member Function Documentation

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

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

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

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

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

template<class _containerType>

template<class __containerType1 , class __containerType2 >

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

inline

template<class _containerType>

template<class __containerType >

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

inline

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

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

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]

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

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.

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

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.

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

template<class _containerType>

static 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().

template<class _containerType >

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

inline

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.

template<class _containerType>

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

inline

template<class _containerType>

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

inline

template<class _containerType>

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

inline

template<class _containerType>

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

inline

template<class _containerType>

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

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstVector/vctForwardDeclarations.h
/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstVector/vctFrame4x4ConstBase.h
/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstVector/vctFrame4x4.h

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

template<class _containerType> class vctFrame4x4ConstBase< _containerType >

Member Typedef Documentation

Member Enumeration Documentation

Member Function Documentation

template<class _containerType>
class vctFrame4x4ConstBase< _containerType >