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

#include <vctForwardDeclarations.h>

Inheritance diagram for vctFrame4x4Base< _containerType >:

Public Types
enum	{ ROWS = 4, COLS = 4 }

enum	{ DIMENSION = 3 }

typedef _containerType	ContainerType

typedef vctFrame4x4ConstBase < ContainerType >	BaseType

typedef vctFrame4x4Base < ContainerType >	ThisType

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 BaseType::MatrixValueType	MatrixValueType

typedef BaseType::TranslationRefType	TranslationRefType

typedef BaseType::ConstTranslationRefType	ConstTranslationRefType

typedef BaseType::PerspectiveRefType	PerspectiveRefType

typedef BaseType::ConstPerspectiveRefType	ConstPerspectiveRefType

typedef BaseType::RotationRefType	RotationRefType

typedef BaseType::ConstRotationRefType	ConstRotationRefType

typedef cmnTypeTraits< value_type >	TypeTraits

Public Types inherited from vctFrame4x4ConstBase< _containerType >
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)

	vctFrame4x4Base (void)

ConstTranslationRefType	Translation (void) const

ConstRotationRefType	Rotation (void) const

ConstPerspectiveRefType	Perspective (void) const

TranslationRefType	Translation (void)

RotationRefType	Rotation (void)

PerspectiveRefType	Perspective (void)

ThisType &	NormalizedSelf (void)

ThisType &	InverseSelf (void)

template<class __containerType >
ThisType &	InverseOf (const vctFrame4x4ConstBase< __containerType > &otherFrame)


template<class __rotationType , class __translationType >
ThisType &	From (const __rotationType &rotation, const __translationType &translation) throw (std::runtime_error)

template<class __rotationType , class __translationType >
ThisType &	FromNormalized (const __rotationType &rotation, const __translationType &translation)

template<class __rotationType , class __translationType >
ThisType &	FromRaw (const __rotationType &rotation, const __translationType &translation)


template<class __rotationType >
ThisType &	From (const vctFrameBase< __rotationType > &frame) throw (std::runtime_error)

template<class __rotationType >
ThisType &	FromNormalized (const vctFrameBase< __rotationType > &frame)

template<class __rotationType >
ThisType &	FromRaw (const vctFrameBase< __rotationType > &frame)

Public Member Functions inherited from vctFrame4x4ConstBase< _containerType >
	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

Additional Inherited Members
Static Public Member Functions inherited from vctFrame4x4ConstBase< _containerType >
static CISST_EXPORT const FrameValueType &	Identity (void)

Detailed Description

template<class _containerType>
class vctFrame4x4Base< _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