#include <RigidCoord.h>

Static Public Attributes
static constexpr sofa::Size	total_size = 7
	Compile-time constant specifying the number of scalars within this vector (equivalent to the size() method) More...

static constexpr sofa::Size	spatial_dimensions = 3
	Compile-time constant specifying the number of dimensions of space (NOT equivalent to total_size for rigids) More...

Protected Attributes
Vec3	center

Quat	orientation

Public Member Functions
constexpr	RigidCoord (const Vec3 &posCenter, const Quat &orient)

constexpr	RigidCoord ()

template<typename real2 >
constexpr	RigidCoord (const RigidCoord< 3, real2 > &c)

constexpr void	clear ()

template<typename real2 >
constexpr void	operator= (const RigidCoord< 3, real2 > &c)

constexpr void	operator= (const Vec3 &p)

void	operator+= (const Deriv &dg)

constexpr RigidCoord< 3, real >	operator+ (const Deriv &dg) const

constexpr RigidCoord< 3, real >	operator- (const RigidCoord< 3, real > &a) const

constexpr RigidCoord< 3, real >	operator+ (const RigidCoord< 3, real > &a) const

constexpr RigidCoord< 3, real >	operator- () const

constexpr void	operator+= (const RigidCoord< 3, real > &a)

template<typename real2 >
constexpr void	operator*= (real2 a)

template<typename real2 >
constexpr void	operator/= (real2 a)

template<typename real2 >
constexpr RigidCoord< 3, real >	operator* (real2 a) const

template<typename real2 >
constexpr RigidCoord< 3, real >	operator/ (real2 a) const

constexpr Real	operator* (const RigidCoord< 3, real > &a) const
	dot product, mostly used to compute residuals as sqrt(x*x) More...

constexpr real	norm2 () const

real	norm () const
	Euclidean norm. More...

constexpr Vec3 &	getCenter ()

constexpr Quat &	getOrientation ()

constexpr const Vec3 &	getCenter () const

constexpr const Quat &	getOrientation () const

constexpr Vec3	rotate (const Vec3 &v) const

constexpr RigidCoord< 3, real >	rotate (const RigidCoord< 3, real > &c) const

constexpr Vec3	inverseRotate (const Vec3 &v) const

constexpr Vec3	translate (const Vec3 &v) const

constexpr RigidCoord< 3, real >	translate (const RigidCoord< 3, real > &c) const

constexpr void	multRight (const RigidCoord< 3, real > &c)
	Apply a transformation with respect to itself. More...

constexpr Vec3	mult (const Vec3 &v) const
	compute the product with another frame on the right More...

constexpr RigidCoord< 3, real >	mult (const RigidCoord< 3, real > &c) const
	compute the product with another frame on the right More...

template<class Mat >
void	fromMatrix (const Mat &m)
	Set from the given matrix. More...

void	toMatrix (sofa::type::Mat< 3, 3, real > &m) const
	Write to the given 3x3 matrix. More...

void	toMatrix (sofa::type::Mat< 4, 4, real > &m) const
	Write to the given 4x4 matrix. More...

constexpr void	toHomogeneousMatrix (HomogeneousMat &m) const

template<class Mat >
void	writeRotationMatrix (Mat &m) const

constexpr void	writeOpenGlMatrix (float m[16]) const
	Write the OpenGL transformation matrix. More...

constexpr Vec3	projectPoint (const Vec3 &v) const
	Apply the transform to a point, i.e. project a point from the child frame to the parent frame (translation and rotation) More...

constexpr Vec3	projectVector (const Vec3 &v) const
	Apply the transform to a vector, i.e. project a vector from the child frame to the parent frame (rotation only, no translation added) More...

constexpr Vec3	unprojectPoint (const Vec3 &v) const
	Apply the inverse transform to a point, i.e. project a point from the parent frame to the child frame (translation and rotation) More...

constexpr Vec3	unprojectVector (const Vec3 &v) const
	Apply the inverse transform to a vector, i.e. project a vector from the parent frame to the child frame (rotation only, no translation) More...

constexpr Vec3	pointToParent (const Vec3 &v) const
	obsolete. Use projectPoint. More...

constexpr Vec3	pointToChild (const Vec3 &v) const
	obsolete. Use unprojectPoint. More...

constexpr real *	ptr ()

constexpr const real *	ptr () const

constexpr real &	operator[] (Size i)
	Access to i-th element. More...

constexpr const real &	operator[] (Size i) const
	Const access to i-th element. More...

Tests operators
constexpr bool	operator== (const RigidCoord< 3, real > &b) const

constexpr bool	operator!= (const RigidCoord< 3, real > &b) const

Static Public Member Functions
static RigidCoord	rand (SReal a)
	Random rigid transform composed of 3 random translations and 3 random Euler angles. More...

static constexpr RigidCoord< 3, real >	identity ()

template<typename V >
static constexpr HomogeneousVec	toHomogeneous (V v, real r=1.)
	create a homogeneous vector from a 3d vector More...

template<typename V >
static constexpr Vec3	fromHomogeneous (V v)
	create a 3d vector from a homogeneous vector More...

static constexpr Size	max_size ()

static constexpr Size	size ()

Friends
std::ostream &	operator<< (std::ostream &out, const RigidCoord< 3, real > &v)
	write to an output stream More...

std::istream &	operator>> (std::istream &in, RigidCoord< 3, real > &v)
	read from an input stream More...

Attribute details

◆ center

template<typename real >

Vec3 sofa::defaulttype::RigidCoord< 3, real >::center

protected

◆ orientation

template<typename real >

Quat sofa::defaulttype::RigidCoord< 3, real >::orientation

protected

◆ spatial_dimensions

template<typename real >

constexpr sofa::Size sofa::defaulttype::RigidCoord< 3, real >::spatial_dimensions = 3

staticconstexpr

Compile-time constant specifying the number of dimensions of space (NOT equivalent to total_size for rigids)

◆ total_size

template<typename real >

constexpr sofa::Size sofa::defaulttype::RigidCoord< 3, real >::total_size = 7

staticconstexpr

Compile-time constant specifying the number of scalars within this vector (equivalent to the size() method)

Constructor details

◆ RigidCoord() [1/3]

template<typename real >

constexpr sofa::defaulttype::RigidCoord< 3, real >::RigidCoord	(	const Vec3 &	posCenter,
		const Quat &	orient
	)

inlineconstexpr

◆ RigidCoord() [2/3]

template<typename real >

constexpr sofa::defaulttype::RigidCoord< 3, real >::RigidCoord ( )

inlineconstexpr

◆ RigidCoord() [3/3]

template<typename real >

template<typename real2 >

constexpr sofa::defaulttype::RigidCoord< 3, real >::RigidCoord ( const RigidCoord< 3, real2 > & c )

inlineconstexpr

Function details

◆ clear()

template<typename real >

constexpr void sofa::defaulttype::RigidCoord< 3, real >::clear ( )

inlineconstexpr

◆ fromHomogeneous()

template<typename real >

template<typename V >

static constexpr Vec3 sofa::defaulttype::RigidCoord< 3, real >::fromHomogeneous ( V v )

inlinestaticconstexpr

create a 3d vector from a homogeneous vector

◆ fromMatrix()

template<typename real >

template<class Mat >

void sofa::defaulttype::RigidCoord< 3, real >::fromMatrix ( const Mat & m )

inline

Set from the given matrix.

◆ getCenter() [1/2]

template<typename real >

constexpr Vec3& sofa::defaulttype::RigidCoord< 3, real >::getCenter ( )

inlineconstexpr

◆ getCenter() [2/2]

template<typename real >

constexpr const Vec3& sofa::defaulttype::RigidCoord< 3, real >::getCenter ( ) const

inlineconstexpr

◆ getOrientation() [1/2]

template<typename real >

constexpr Quat& sofa::defaulttype::RigidCoord< 3, real >::getOrientation ( )

inlineconstexpr

◆ getOrientation() [2/2]

template<typename real >

constexpr const Quat& sofa::defaulttype::RigidCoord< 3, real >::getOrientation ( ) const

inlineconstexpr

◆ identity()

template<typename real >

static constexpr RigidCoord<3, real> sofa::defaulttype::RigidCoord< 3, real >::identity ( )

inlinestaticconstexpr

◆ inverseRotate()

template<typename real >

constexpr Vec3 sofa::defaulttype::RigidCoord< 3, real >::inverseRotate ( const Vec3 & v ) const

inlineconstexpr

◆ max_size()

template<typename real >

static constexpr Size sofa::defaulttype::RigidCoord< 3, real >::max_size ( )

inlinestaticconstexpr

◆ mult() [1/2]

template<typename real >

constexpr RigidCoord<3, real> sofa::defaulttype::RigidCoord< 3, real >::mult ( const RigidCoord< 3, real > & c ) const

inlineconstexpr

compute the product with another frame on the right

◆ mult() [2/2]

template<typename real >

constexpr Vec3 sofa::defaulttype::RigidCoord< 3, real >::mult ( const Vec3 & v ) const

inlineconstexpr

compute the product with another frame on the right

◆ multRight()

template<typename real >

constexpr void sofa::defaulttype::RigidCoord< 3, real >::multRight ( const RigidCoord< 3, real > & c )

inlineconstexpr

Apply a transformation with respect to itself.

◆ norm()

template<typename real >

real sofa::defaulttype::RigidCoord< 3, real >::norm ( ) const

inline

Euclidean norm.

◆ norm2()

template<typename real >

constexpr real sofa::defaulttype::RigidCoord< 3, real >::norm2 ( ) const

inlineconstexpr

Squared norm. For the rotation we use the xyz components of the quaternion. Note that this is not equivalent to the angle, so a 2d rotation and the equivalent 3d rotation have different norms.

◆ operator!=()

template<typename real >

constexpr bool sofa::defaulttype::RigidCoord< 3, real >::operator!= ( const RigidCoord< 3, real > & b ) const

inlineconstexpr

◆ operator*() [1/2]

template<typename real >

constexpr Real sofa::defaulttype::RigidCoord< 3, real >::operator* ( const RigidCoord< 3, real > & a ) const

inlineconstexpr

dot product, mostly used to compute residuals as sqrt(x*x)

◆ operator*() [2/2]

template<typename real >

template<typename real2 >

constexpr RigidCoord<3, real> sofa::defaulttype::RigidCoord< 3, real >::operator* ( real2 a ) const

inlineconstexpr

◆ operator*=()

template<typename real >

template<typename real2 >

constexpr void sofa::defaulttype::RigidCoord< 3, real >::operator*= ( real2 a )

inlineconstexpr

◆ operator+() [1/2]

template<typename real >

constexpr RigidCoord<3, real> sofa::defaulttype::RigidCoord< 3, real >::operator+ ( const Deriv & dg ) const

inlineconstexpr

◆ operator+() [2/2]

template<typename real >

constexpr RigidCoord<3, real> sofa::defaulttype::RigidCoord< 3, real >::operator+ ( const RigidCoord< 3, real > & a ) const

inlineconstexpr

◆ operator+=() [1/2]

template<typename real >

void sofa::defaulttype::RigidCoord< 3, real >::operator+= ( const Deriv & dg )

inline

◆ operator+=() [2/2]

template<typename real >

constexpr void sofa::defaulttype::RigidCoord< 3, real >::operator+= ( const RigidCoord< 3, real > & a )

inlineconstexpr

◆ operator-() [1/2]

template<typename real >

constexpr RigidCoord<3, real> sofa::defaulttype::RigidCoord< 3, real >::operator- ( ) const

inlineconstexpr

◆ operator-() [2/2]

template<typename real >

constexpr RigidCoord<3, real> sofa::defaulttype::RigidCoord< 3, real >::operator- ( const RigidCoord< 3, real > & a ) const

inlineconstexpr

◆ operator/()

template<typename real >

template<typename real2 >

constexpr RigidCoord<3, real> sofa::defaulttype::RigidCoord< 3, real >::operator/ ( real2 a ) const

inlineconstexpr

◆ operator/=()

template<typename real >

template<typename real2 >

constexpr void sofa::defaulttype::RigidCoord< 3, real >::operator/= ( real2 a )

inlineconstexpr

◆ operator=() [1/2]

template<typename real >

template<typename real2 >

constexpr void sofa::defaulttype::RigidCoord< 3, real >::operator= ( const RigidCoord< 3, real2 > & c )

inlineconstexpr

◆ operator=() [2/2]

template<typename real >

constexpr void sofa::defaulttype::RigidCoord< 3, real >::operator= ( const Vec3 & p )

inlineconstexpr

◆ operator==()

template<typename real >

constexpr bool sofa::defaulttype::RigidCoord< 3, real >::operator== ( const RigidCoord< 3, real > & b ) const

inlineconstexpr

◆ operator[]() [1/2]

template<typename real >

constexpr real& sofa::defaulttype::RigidCoord< 3, real >::operator[] ( Size i )

inlineconstexpr

Access to i-th element.

◆ operator[]() [2/2]

template<typename real >

constexpr const real& sofa::defaulttype::RigidCoord< 3, real >::operator[] ( Size i ) const

inlineconstexpr

Const access to i-th element.

◆ pointToChild()

template<typename real >

constexpr Vec3 sofa::defaulttype::RigidCoord< 3, real >::pointToChild ( const Vec3 & v ) const

inlineconstexpr

obsolete. Use unprojectPoint.

◆ pointToParent()

template<typename real >

constexpr Vec3 sofa::defaulttype::RigidCoord< 3, real >::pointToParent ( const Vec3 & v ) const

inlineconstexpr

obsolete. Use projectPoint.

◆ projectPoint()

template<typename real >

constexpr Vec3 sofa::defaulttype::RigidCoord< 3, real >::projectPoint ( const Vec3 & v ) const

inlineconstexpr

Apply the transform to a point, i.e. project a point from the child frame to the parent frame (translation and rotation)

◆ projectVector()

template<typename real >

constexpr Vec3 sofa::defaulttype::RigidCoord< 3, real >::projectVector ( const Vec3 & v ) const

inlineconstexpr

Apply the transform to a vector, i.e. project a vector from the child frame to the parent frame (rotation only, no translation added)

◆ ptr() [1/2]

template<typename real >

constexpr real* sofa::defaulttype::RigidCoord< 3, real >::ptr ( )

inlineconstexpr

◆ ptr() [2/2]

template<typename real >

constexpr const real* sofa::defaulttype::RigidCoord< 3, real >::ptr ( ) const

inlineconstexpr

◆ rand()

template<typename real >

static RigidCoord sofa::defaulttype::RigidCoord< 3, real >::rand ( SReal a )

inlinestatic

Random rigid transform composed of 3 random translations and 3 random Euler angles.

Parameters

a	Range of each random value: (-a,+a)

Returns: random rigid transform

◆ rotate() [1/2]

template<typename real >

constexpr RigidCoord<3, real> sofa::defaulttype::RigidCoord< 3, real >::rotate ( const RigidCoord< 3, real > & c ) const

inlineconstexpr

◆ rotate() [2/2]

template<typename real >

constexpr Vec3 sofa::defaulttype::RigidCoord< 3, real >::rotate ( const Vec3 & v ) const

inlineconstexpr

◆ size()

template<typename real >

static constexpr Size sofa::defaulttype::RigidCoord< 3, real >::size ( )

inlinestaticconstexpr

◆ toHomogeneous()

template<typename real >

template<typename V >

static constexpr HomogeneousVec sofa::defaulttype::RigidCoord< 3, real >::toHomogeneous	(	V	v,
		real	r = `1.`
	)

inlinestaticconstexpr

create a homogeneous vector from a 3d vector

◆ toHomogeneousMatrix()

template<typename real >

constexpr void sofa::defaulttype::RigidCoord< 3, real >::toHomogeneousMatrix ( HomogeneousMat & m ) const

inlineconstexpr

◆ toMatrix() [1/2]

template<typename real >

void sofa::defaulttype::RigidCoord< 3, real >::toMatrix ( sofa::type::Mat< 3, 3, real > & m ) const

inline

Write to the given 3x3 matrix.

◆ toMatrix() [2/2]

template<typename real >

void sofa::defaulttype::RigidCoord< 3, real >::toMatrix ( sofa::type::Mat< 4, 4, real > & m ) const

inline

Write to the given 4x4 matrix.

◆ translate() [1/2]

template<typename real >

constexpr RigidCoord<3, real> sofa::defaulttype::RigidCoord< 3, real >::translate ( const RigidCoord< 3, real > & c ) const

inlineconstexpr

◆ translate() [2/2]

template<typename real >

constexpr Vec3 sofa::defaulttype::RigidCoord< 3, real >::translate ( const Vec3 & v ) const

inlineconstexpr

◆ unprojectPoint()

template<typename real >

constexpr Vec3 sofa::defaulttype::RigidCoord< 3, real >::unprojectPoint ( const Vec3 & v ) const

inlineconstexpr

Apply the inverse transform to a point, i.e. project a point from the parent frame to the child frame (translation and rotation)

◆ unprojectVector()

template<typename real >

constexpr Vec3 sofa::defaulttype::RigidCoord< 3, real >::unprojectVector ( const Vec3 & v ) const

inlineconstexpr

Apply the inverse transform to a vector, i.e. project a vector from the parent frame to the child frame (rotation only, no translation)

◆ writeOpenGlMatrix()

template<typename real >

constexpr void sofa::defaulttype::RigidCoord< 3, real >::writeOpenGlMatrix ( float m[16] ) const

inlineconstexpr

Write the OpenGL transformation matrix.

◆ writeRotationMatrix()

template<typename real >

template<class Mat >

void sofa::defaulttype::RigidCoord< 3, real >::writeRotationMatrix ( Mat & m ) const

inline

Related details

◆ operator<<

template<typename real >

std::ostream& operator<<	(	std::ostream &	out,
		const RigidCoord< 3, real > &	v
	)

friend

write to an output stream

◆ operator>>

template<typename real >

std::istream& operator>>	(	std::istream &	in,
		RigidCoord< 3, real > &	v
	)

friend

read from an input stream

Static Public Attributes

Protected Attributes

Public Member Functions

Static Public Member Functions

Friends

Attribute details

◆ center

◆ orientation

◆ spatial_dimensions

◆ total_size

Constructor details

◆ RigidCoord() [1/3]

◆ RigidCoord() [2/3]

◆ RigidCoord() [3/3]

Function details

◆ clear()

◆ fromHomogeneous()

◆ fromMatrix()

◆ getCenter() [1/2]

◆ getCenter() [2/2]

◆ getOrientation() [1/2]

◆ getOrientation() [2/2]

◆ identity()

◆ inverseRotate()

◆ max_size()

◆ mult() [1/2]

◆ mult() [2/2]

◆ multRight()

◆ norm()

◆ norm2()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator/()

◆ operator/=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ pointToChild()

◆ pointToParent()

◆ projectPoint()

◆ projectVector()

◆ ptr() [1/2]

◆ ptr() [2/2]

◆ rand()

◆ rotate() [1/2]

◆ rotate() [2/2]

◆ size()

◆ toHomogeneous()

◆ toHomogeneousMatrix()

◆ toMatrix() [1/2]

◆ toMatrix() [2/2]

◆ translate() [1/2]

◆ translate() [2/2]

◆ unprojectPoint()

◆ unprojectVector()

◆ writeOpenGlMatrix()

◆ writeRotationMatrix()

Related details

◆ operator<<

◆ operator>>