Define a rotation matrix for a space of dimension 3. More...

#include <vctForwardDeclarations.h>

Inheritance diagram for vctMatrixRotation3ConstBase< _containerType >:

Public Types
enum	{ ROWS = 3, COLS = 3 }

enum	{ DIMENSION = 3 }

typedef _containerType	BaseType

typedef _containerType	ContainerType

typedef vctMatrixRotation3ConstBase < ContainerType >	ThisType

typedef vctMatrixRotation3 < value_type >	RotationValueType

typedef cmnTypeTraits< value_type >	TypeTraits

Public Member Functions
	VCT_CONTAINER_TRAITS_TYPEDEFS (typename ContainerType::value_type)

RotationValueType	Normalized (void) const

bool	IsNormalized (value_type tolerance=TypeTraits::Tolerance()) const

RotationValueType	Inverse (void) 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

ThisType	ApplyTo (const ThisType &input) const

template<class __vectorOwnerType1 , class __vectorOwnerType2 >
void	ApplyTo (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &input, vctDynamicVectorBase< __vectorOwnerType2, value_type > &output) const throw (std::runtime_error)

template<class __vectorOwnerType , stride_type __stride, class __dataPtrType >
void	ApplyTo (const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &input, vctFixedSizeVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &output) const throw (std::runtime_error)

template<class __vectorOwnerType >
vctFixedSizeVector< value_type, DIMENSION >	ApplyTo (const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &input) 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<stride_type __stride, class __dataPtrType >
vctFixedSizeVector< value_type, DIMENSION >	ApplyInverseTo (const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &input) const

template<class __vectorOwnerType >
vctFixedSizeVector< value_type, DIMENSION >	ApplyInverseTo (const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &input) const

void	ApplyInverseTo (const ThisType &input, ThisType &output) const

ThisType	ApplyInverseTo (const ThisType &input) const

template<class __vectorOwnerType1 , class __vectorOwnerType2 >
void	ApplyInverseTo (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &input, vctDynamicVectorBase< __vectorOwnerType2, value_type > &output) const

template<class __vectorOwnerType , stride_type __stride, class __dataPtrType >
void	ApplyInverseTo (const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &input, vctFixedSizeVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &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

template<class __matrixOwnerType1 , class __matrixOwnerType2 >
void	ApplyTo (const vctDynamicConstMatrixBase< __matrixOwnerType1, value_type > &input, vctDynamicMatrixBase< __matrixOwnerType2, 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	ApplyInverseTo (const vctFixedSizeConstMatrixBase< DIMENSION, __cols, __rowStride1, __colStride1, value_type, __dataPtrType1 > &input, vctFixedSizeMatrixBase< DIMENSION, __cols, __rowStride2, __colStride2, value_type, __dataPtrType2 > &output) const

template<class __matrixOwnerType1 , class __matrixOwnerType2 >
void	ApplyInverseTo (const vctDynamicConstMatrixBase< __matrixOwnerType1, value_type > &input, vctDynamicMatrixBase< __matrixOwnerType2, value_type > &output) const

ThisType	operator* (const ThisType &input) const

template<stride_type __stride, class __dataPtrType >
vctFixedSizeVector< value_type, DIMENSION >	operator* (const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &input) const

template<class __vectorOwnerType1 >
vctFixedSizeVector< value_type, DIMENSION >	operator* (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &input) const

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

Static Public Member Functions
static CISST_EXPORT const RotationValueType &	Identity ()

Protected Member Functions
void	ThrowUnlessIsNormalized (void) const throw (std::runtime_error)

template<class _inputType >
void	ThrowUnlessIsNormalized (const _inputType &input) const throw (std::runtime_error)

Detailed Description

template<class _containerType>
class vctMatrixRotation3ConstBase< _containerType >

Define a rotation matrix for a space of dimension 3.

This class is templated by the type of container used to store the rotation matrix. This class is an internal class, i.e. it is not intended for the end-user. The class which should be used by most is vctMatRot3 (eventually vctMatrixRotation3<_elementType>).

The main goal of this meta rotation matrix class is to ease the interface with Python. For a native Python object, a matrix rotation can be defined based on a vctDynamicMatrix which is much easier to wrap than a vctFixedSizeMatrix. For a C++ object accessed from Python, the rotation matrix will be defined using vctMatrixRotation3Base<vctDynamicMatrixRef<double> >, referring to the C++ vctMatrixRotation3Base<vctFixedSizeMatrix<double, 3, 3> >.

Parameters

_containerType The type of the matrix.

See Also: vctFixedSizeMatrix

Member Typedef Documentation

template<class _containerType>

typedef _containerType vctMatrixRotation3ConstBase< _containerType >::BaseType

template<class _containerType>

typedef _containerType vctMatrixRotation3ConstBase< _containerType >::ContainerType

template<class _containerType>

typedef vctMatrixRotation3<value_type> vctMatrixRotation3ConstBase< _containerType >::RotationValueType

Type used to return by copy

template<class _containerType>

typedef vctMatrixRotation3ConstBase<ContainerType> vctMatrixRotation3ConstBase< _containerType >::ThisType

template<class _containerType>

typedef cmnTypeTraits<value_type> vctMatrixRotation3ConstBase< _containerType >::TypeTraits

Traits used for all useful types and values related to the element type.

Member Enumeration Documentation

template<class _containerType>

anonymous enum

Enumerator
ROWS
COLS

template<class _containerType>

anonymous enum

Enumerator
DIMENSION

Member Function Documentation

template<class _containerType>

bool vctMatrixRotation3ConstBase< _containerType >::AlmostEquivalent	(	const ThisType &	other,
		value_type	tolerance = `TypeTraits::Tolerance()`
	)		const

inline

Return true if this rotation is effectively equivalent to the other rotation, up to the given tolerance. For a rotation matrix, this method is strictly the same as AlmostEqual.

See Also: AlmostEqual

template<class _containerType>

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

void vctMatrixRotation3ConstBase< _containerType >::ApplyInverseTo	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &	input,
		vctFixedSizeVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &	output
	)		const

inline

Apply the inverse of the rotation to a vector of fixed size

The result is stored into a vector of size 3 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> vctMatrixRotation3ConstBase< _containerType >::ApplyInverseTo ( const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > & input ) const

inline

Apply the the inverse of the rotation to a vector of fixed size 3. 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 __vectorOwnerType >

vctFixedSizeVector<value_type, DIMENSION> vctMatrixRotation3ConstBase< _containerType >::ApplyInverseTo ( const vctDynamicConstVectorBase< __vectorOwnerType, value_type > & input ) const

inline

Apply the inverse rotation to a dynamic vector of length 3. The result is returned by value.

template<class _containerType>

void vctMatrixRotation3ConstBase< _containerType >::ApplyInverseTo	(	const ThisType &	input,
		ThisType &	output
	)		const

inline

Apply the inverse of the rotation to another rotation. The result is stored into a vctMatrixRotation3Base (ThisType) provided by the caller and passed by reference.

Parameters

input	The input rotation
output	The output rotation

template<class _containerType>

ThisType vctMatrixRotation3ConstBase< _containerType >::ApplyInverseTo ( const ThisType & input ) const

inline

Apply the inverse of the rotation to another rotation. 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 rotation

Returns: The output rotation

template<class _containerType>

template<class __vectorOwnerType1 , class __vectorOwnerType2 >

void vctMatrixRotation3ConstBase< _containerType >::ApplyInverseTo	(	const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &	input,
		vctDynamicVectorBase< __vectorOwnerType2, value_type > &	output
	)		const

inline

Apply the the inverse of the rotation to a dynamic vector. The result is stored into another dynamic vector passed by reference by the caller. It is assumed that both are of size 3.

template<class _containerType>

template<class __vectorOwnerType , stride_type __stride, class __dataPtrType >

void vctMatrixRotation3ConstBase< _containerType >::ApplyInverseTo	(	const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &	input,
		vctFixedSizeVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &	output
	)		const

inline

Apply the the inverse of the rotation to a dynamic vector. The result is stored into a fixed-size vector passed by reference by the caller. It is assumed that both are of size 3.

template<class _containerType>

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

void vctMatrixRotation3ConstBase< _containerType >::ApplyInverseTo	(	const vctFixedSizeConstMatrixBase< DIMENSION, __cols, __rowStride1, __colStride1, value_type, __dataPtrType1 > &	input,
		vctFixedSizeMatrixBase< DIMENSION, __cols, __rowStride2, __colStride2, value_type, __dataPtrType2 > &	output
	)		const

inline

Apply the inverse rotation to a fixed-size matrix with 3 rows. The result is stored in another fixed-size matrix

template<class _containerType>

template<class __matrixOwnerType1 , class __matrixOwnerType2 >

void vctMatrixRotation3ConstBase< _containerType >::ApplyInverseTo	(	const vctDynamicConstMatrixBase< __matrixOwnerType1, value_type > &	input,
		vctDynamicMatrixBase< __matrixOwnerType2, value_type > &	output
	)		const

inline

Apply this rotation inverse to a dynamic matrix with 3 rows. The result is stored in another dynamic matrix.

template<class _containerType>

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

void vctMatrixRotation3ConstBase< _containerType >::ApplyTo	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &	input,
		vctFixedSizeVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &	output
	)		const

inline

Apply the rotation to a vector of fixed size 3. The result is stored into a vector of size 3 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> vctMatrixRotation3ConstBase< _containerType >::ApplyTo ( const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > & input ) const

inline

Apply the rotation to a vector of fixed size 3. 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>

ThisType vctMatrixRotation3ConstBase< _containerType >::ApplyTo ( const ThisType & input ) const

inline

Apply the rotation to another rotation. 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 rotation

Returns: The output rotation

template<class _containerType>

template<class __vectorOwnerType1 , class __vectorOwnerType2 >

void vctMatrixRotation3ConstBase< _containerType >::ApplyTo	(	const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &	input,
		vctDynamicVectorBase< __vectorOwnerType2, value_type > &	output
	)		const
throw	(	std::runtime_error
	)

inline

Apply the rotation to a dynamic vector. The result is stored into another dynamic vector passed by reference by the caller. It is assumed that both are of size 3.

template<class _containerType>

template<class __vectorOwnerType , stride_type __stride, class __dataPtrType >

void vctMatrixRotation3ConstBase< _containerType >::ApplyTo	(	const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &	input,
		vctFixedSizeVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &	output
	)		const
throw	(	std::runtime_error
	)

inline

template<class _containerType>

template<class __vectorOwnerType >

vctFixedSizeVector<value_type, DIMENSION> vctMatrixRotation3ConstBase< _containerType >::ApplyTo ( const vctDynamicConstVectorBase< __vectorOwnerType, value_type > & input ) const

inline

Apply the rotation to a dynamic vector of length 3. The result is returned by value.

template<class _containerType>

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

void vctMatrixRotation3ConstBase< _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 rotation to a fixed-size matrix with 3 rows. The result is stored in another fixed-size matrix

template<class _containerType>

template<class __matrixOwnerType1 , class __matrixOwnerType2 >

void vctMatrixRotation3ConstBase< _containerType >::ApplyTo	(	const vctDynamicConstMatrixBase< __matrixOwnerType1, value_type > &	input,
		vctDynamicMatrixBase< __matrixOwnerType2, value_type > &	output
	)		const

inline

Apply this rotation to a dynamic matrix with 3 rows. The result is stored in another dynamic matrix.

template<class _containerType>

static CISST_EXPORT const RotationValueType& vctMatrixRotation3ConstBase< _containerType >::Identity ( )

static

Const reference to the identity. In this case, the identity matrix:

1 0 0
0 1 0
0 0 1

template<class _containerType >

vctMatrixRotation3ConstBase< _containerType >::RotationValueType vctMatrixRotation3ConstBase< _containerType >::Inverse ( void ) const

Create and return by copy the inverse of this matrix. This method is not the most efficient since it requires a copy. See also InverseSelf().

template<class _containerType>

bool vctMatrixRotation3ConstBase< _containerType >::IsNormalized ( value_type tolerance = TypeTraits::Tolerance() ) const

inline

Test if this matrix is normalized. This methods checks that all the columns are normalized (within a margin of tolerance) and then checks that the three vectors are orthogonal to each other.

Parameters

tolerance Tolerance for the norm and scalar product tests.

template<class _containerType >

vctMatrixRotation3ConstBase< _containerType >::RotationValueType vctMatrixRotation3ConstBase< _containerType >::Normalized ( void ) const

Returns the normalized version of this rotation. This method returns a copy of the normalized rotation and does not modify this rotation. See also NormalizedSelf().

template<class _containerType>

ThisType vctMatrixRotation3ConstBase< _containerType >::operator* ( const ThisType & input ) const

inline

Multiply two rotation matrices and return the result as a rotation matrix.

Returns: (*this) * other

Note: this function overrides and shadows the operator * defined for basic matrix type. The latter returns a vctFixedSizeMatrix, while this version returns a specialized rotation matrix.

template<class _containerType>

template<stride_type __stride, class __dataPtrType >

vctFixedSizeVector<value_type, DIMENSION> vctMatrixRotation3ConstBase< _containerType >::operator* ( const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > & input ) const

inline

Override the * operator defined in the matrix base for matrix * vector. This prevents compiler confusion between the overloaded RotMat*RotMat and the base-class Mat*Vec

template<class _containerType>

template<class __vectorOwnerType1 >

vctFixedSizeVector<value_type, DIMENSION> vctMatrixRotation3ConstBase< _containerType >::operator* ( const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > & input ) const

inline

Implement operator * for MatrixRotatin * DynamicVector. Return type is set to fixed-size vector of length 3. It is the caller's responsibility to convert the return value to a dynamic vector, if so desired.

template<class _containerType>

void vctMatrixRotation3ConstBase< _containerType >::ThrowUnlessIsNormalized	(	void	)	const
throw	(	std::runtime_error
	)

inlineprotected

Throw an exception unless this rotation is normalized.

template<class _containerType>

template<class _inputType >

void vctMatrixRotation3ConstBase< _containerType >::ThrowUnlessIsNormalized	(	const _inputType &	input	)	const
throw	(	std::runtime_error
	)

inlineprotected

Throw an exception unless the input is normalized.

Parameters

input An object with IsNormalized method.

template<class _containerType>

vctMatrixRotation3ConstBase< _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/vctMatrixRotation3ConstBase.h
/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstVector/vctMatrixRotation3.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

template<class _containerType> class vctMatrixRotation3ConstBase< _containerType >

Member Typedef Documentation

Member Enumeration Documentation

Member Function Documentation

template<class _containerType>
class vctMatrixRotation3ConstBase< _containerType >