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vctFrame4x4Base< _containerType > Class Template Reference

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

#include <vctFrame4x4Base.h>

Inheritance diagram for vctFrame4x4Base< _containerType >:
vctFrame4x4ConstBase< _containerType > vctFrame4x4< value_type, _rowMajor > vctFrame4x4< value_type, COLSTRIDE<=ROWSTRIDE > vctFrame4x4< float, VCT_ROW_MAJOR >

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

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)
template<class __rotationType, class __translationType>
ThisType & From (const __rotationType &rotation, const __translationType &translation) CISST_THROW(std
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) CISST_THROW(std
template<class __rotationType>
ThisType & FromNormalized (const vctFrameBase< __rotationType > &frame)
template<class __rotationType>
ThisType & FromRaw (const vctFrameBase< __rotationType > &frame)
ThisType & NormalizedSelf (void)
ThisType & InverseSelf (void)
template<class __containerType>
ThisType & InverseOf (const vctFrame4x4ConstBase< __containerType > &otherFrame)
Public Member Functions inherited from vctFrame4x4ConstBase< _containerType >
 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

Additional Inherited Members

Static Public Member Functions inherited from vctFrame4x4ConstBase< _containerType >
static CISST_EXPORT const FrameValueType & Identity (void)
Protected Member Functions inherited from vctFrame4x4ConstBase< _containerType >
void UpdateReferences (void)
Protected Attributes inherited from vctFrame4x4ConstBase< _containerType >
RotationRefType RotationRef
TranslationRefType TranslationRef
PerspectiveRefType PerspectiveRef

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
_matrixTypeThe type of matrix used to store the elements
See also
vctDynamicMatrix, vctFixedSizeMatrix, vctFrameBase

Member Typedef Documentation

◆ BaseType

template<class _containerType>
typedef vctFrame4x4ConstBase<ContainerType> vctFrame4x4Base< _containerType >::BaseType

◆ ColumnRefType

template<class _containerType>
typedef BaseType::ColumnRefType vctFrame4x4Base< _containerType >::ColumnRefType

◆ ConstColumnRefType

template<class _containerType>
typedef BaseType::ConstColumnRefType vctFrame4x4Base< _containerType >::ConstColumnRefType

◆ ConstDiagonalRefType

template<class _containerType>
typedef BaseType::ConstDiagonalRefType vctFrame4x4Base< _containerType >::ConstDiagonalRefType

◆ ConstPerspectiveRefType

template<class _containerType>
typedef BaseType::ConstPerspectiveRefType vctFrame4x4Base< _containerType >::ConstPerspectiveRefType

◆ ConstRefTransposeType

template<class _containerType>
typedef BaseType::ConstRefTransposeType vctFrame4x4Base< _containerType >::ConstRefTransposeType

◆ ConstRotationRefType

template<class _containerType>
typedef BaseType::ConstRotationRefType vctFrame4x4Base< _containerType >::ConstRotationRefType

◆ ConstRowRefType

template<class _containerType>
typedef BaseType::ConstRowRefType vctFrame4x4Base< _containerType >::ConstRowRefType

◆ ConstTranslationRefType

template<class _containerType>
typedef BaseType::ConstTranslationRefType vctFrame4x4Base< _containerType >::ConstTranslationRefType

◆ ContainerType

template<class _containerType>
typedef _containerType vctFrame4x4Base< _containerType >::ContainerType

◆ DiagonalRefType

template<class _containerType>
typedef BaseType::DiagonalRefType vctFrame4x4Base< _containerType >::DiagonalRefType

◆ MatrixValueType

template<class _containerType>
typedef BaseType::MatrixValueType vctFrame4x4Base< _containerType >::MatrixValueType

◆ PerspectiveRefType

template<class _containerType>
typedef BaseType::PerspectiveRefType vctFrame4x4Base< _containerType >::PerspectiveRefType

◆ RefTransposeType

template<class _containerType>
typedef BaseType::RefTransposeType vctFrame4x4Base< _containerType >::RefTransposeType

◆ RotationRefType

template<class _containerType>
typedef BaseType::RotationRefType vctFrame4x4Base< _containerType >::RotationRefType

◆ RowRefType

template<class _containerType>
typedef BaseType::RowRefType vctFrame4x4Base< _containerType >::RowRefType

◆ ThisType

template<class _containerType>
typedef vctFrame4x4Base<ContainerType> vctFrame4x4Base< _containerType >::ThisType

◆ TranslationRefType

template<class _containerType>
typedef BaseType::TranslationRefType vctFrame4x4Base< _containerType >::TranslationRefType

◆ TypeTraits

template<class _containerType>
typedef cmnTypeTraits<value_type> vctFrame4x4Base< _containerType >::TypeTraits

Member Enumeration Documentation

◆ anonymous enum

template<class _containerType>
anonymous enum
Enumerator
ROWS 
COLS 

◆ anonymous enum

template<class _containerType>
anonymous enum
Enumerator
DIMENSION 

Constructor & Destructor Documentation

◆ vctFrame4x4Base()

template<class _containerType>
vctFrame4x4Base< _containerType >::vctFrame4x4Base ( void )
inline

Default constructor. Sets the rotation matrix to identity.

Member Function Documentation

◆ From() [1/2]

template<class _containerType>
template<class __rotationType, class __translationType>
ThisType & vctFrame4x4Base< _containerType >::From ( const __rotationType & rotation,
const __translationType & translation )
inline

Create from a rotation and a translation. From will throw an exception if the rotation is not normalized. FromNormalized will ensure the rotation part is normalized after assignment while FromRaw will not check nor normalize the rotation component.

◆ From() [2/2]

template<class _containerType>
template<class __rotationType>
ThisType & vctFrame4x4Base< _containerType >::From ( const vctFrameBase< __rotationType > & frame)
inline

Create from a frame derived from vctFrameBase (i.e. represented by a rotation and translation). From will throw an exception if the rotation is not normalized. FromNormalized will ensure the rotation part is normalized after assignment while FromRaw will not check nor normalize the rotation component.

◆ FromNormalized() [1/2]

template<class _containerType>
template<class __rotationType, class __translationType>
ThisType & vctFrame4x4Base< _containerType >::FromNormalized ( const __rotationType & rotation,
const __translationType & translation )
inline

◆ FromNormalized() [2/2]

template<class _containerType>
template<class __rotationType>
ThisType & vctFrame4x4Base< _containerType >::FromNormalized ( const vctFrameBase< __rotationType > & frame)
inline

◆ FromRaw() [1/2]

template<class _containerType>
template<class __rotationType, class __translationType>
ThisType & vctFrame4x4Base< _containerType >::FromRaw ( const __rotationType & rotation,
const __translationType & translation )
inline

◆ FromRaw() [2/2]

template<class _containerType>
template<class __rotationType>
ThisType & vctFrame4x4Base< _containerType >::FromRaw ( const vctFrameBase< __rotationType > & frame)
inline

◆ InverseOf()

template<class _containerType>
template<class __containerType>
ThisType & vctFrame4x4Base< _containerType >::InverseOf ( const vctFrame4x4ConstBase< __containerType > & otherFrame)
inline

◆ InverseSelf()

template<class _containerType>
ThisType & vctFrame4x4Base< _containerType >::InverseSelf ( void )
inline

Inverse this frame.

◆ NormalizedSelf()

template<class _containerType>
ThisType & vctFrame4x4Base< _containerType >::NormalizedSelf ( void )
inline

Normalizes this frame. This method normalizes the rotation part of the matrix and resets the last row to [0 0 0 1]. For the rotation normalization, this method relies on vctMatrixRotation3Base normalization method, which converts to a unit quaternion to normalize.

◆ Perspective() [1/2]

template<class _containerType>
PerspectiveRefType vctFrame4x4Base< _containerType >::Perspective ( void )
inline

◆ Perspective() [2/2]

template<class _containerType>
ConstPerspectiveRefType vctFrame4x4Base< _containerType >::Perspective ( void ) const
inline

◆ Rotation() [1/2]

template<class _containerType>
RotationRefType vctFrame4x4Base< _containerType >::Rotation ( void )
inline

◆ Rotation() [2/2]

template<class _containerType>
ConstRotationRefType vctFrame4x4Base< _containerType >::Rotation ( void ) const
inline

◆ Translation() [1/2]

template<class _containerType>
TranslationRefType vctFrame4x4Base< _containerType >::Translation ( void )
inline

◆ Translation() [2/2]

template<class _containerType>
ConstTranslationRefType vctFrame4x4Base< _containerType >::Translation ( void ) const
inline

◆ VCT_CONTAINER_TRAITS_TYPEDEFS()

template<class _containerType>
vctFrame4x4Base< _containerType >::VCT_CONTAINER_TRAITS_TYPEDEFS ( typename ContainerType::value_type )
The documentation for this class was generated from the following files:
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