sofa::type::Frame Class Reference

#include <Frame.h>

Detailed Description

The affine transformation of points and vectors from a coordinate system (the local frame) to another (the reference frame). The transformation is not necessarily rigid.

When defined using (origin, rotation, scale), the transfrom can be seen as three frame displacements starting from the reference frame: translation, then rotation along the new origin, then scale along the new axes. Conversely, the projection of a point from the local frame to the reference frame undergoes scaling, then rotation, then translation. Vectors do not undergo translation since they model directions or displacement.

The product F1F2 can be seen as a frame displacement F1 starting from the reference frame followed by a frame displacement F2 starting from the new frame. It is used in frame hierarchies to model the transfromation frome frame 2 wrt the reference frame.

Author

Francois Faure, INRIA-UJF, 2006

Public Member Functions
	Frame (const Vec3 &origin, const Mat33 &matrix)
	Frame (const Vec3 &origin, const Quat &orientation, const Vec3 &scale=Vec3(1_sreal, 1_sreal, 1_sreal))
	Frame (const Vec3 &origin)
	Frame ()
	Default constructor set the transformation to identity. More...
void	setTransform (const Vec3 &origin, const Quat &orientation, const Vec3 &scale)
void	clear ()
	Reset the transformation to identity. More...
Vec3 &	getOrigin ()
	Origin of the local frame in the reference frame,. More...
const Vec3 &	getOrigin () const
	Origin of the local frame in the reference frame,. More...
void	setOrigin (const Vec3 &origin)
	Set the origin of the local frame in the reference frame,. More...
Mat33 &	getBasis ()
	The columns represent the base vectors of the local frame wrt the reference frame. More...
const Mat33 &	getBasis () const
	The columns represent the base vectors of the local frame wrt the reference frame. More...
void	setBasis (const Mat33 &m)
	The columns represent the base vectors of the local frame wrt the reference frame. More...
void	multRight (const Frame &c)
	Apply a transformation defined in the child frame (mult. right) More...
Frame	mult (const Frame &c) const
	compute the product with another frame on the right More...
void	writeOpenGlMatrix (float *m) const
	Write the OpenGL transformation matrix to a float[16]. More...
void	writeOpenGlMatrix (double *m) const
	Write the OpenGL transformation matrix to a double[16]. More...
template<class V >
V	projectVector (const V &v) const
	compute the projection of a vector from the local frame to the reference frame More...
template<class V >
V	projectPoint (const V &v) const
	compute the projection of a point from the local frame to the reference frame More...
Frame	inversed () const
	Transformation from the reference frame to the local frame. More...

Static Public Member Functions
static Frame	identity ()
	The identity transform. More...

Friends
std::ostream &	operator<< (std::ostream &out, const Frame &c)

Constructor details

Frame() [1/4]

sofa::type::Frame::Frame	(	const Vec3 &	origin,
		const Mat33 &	matrix
	)

Define the local frame using origin and basis vectors

Frame() [2/4]

sofa::type::Frame::Frame	(	const Vec3 &	origin,
		const Quat &	orientation,
		const Vec3 &	scale = Vec3(1_sreal,1_sreal,1_sreal)
	)

Define the local frame using three transforms

Frame() [3/4]

sofa::type::Frame::Frame

(

const Vec3 &

origin

)

Define the local frame without rotation

Frame() [4/4]

sofa::type::Frame::Frame

(

)

Default constructor set the transformation to identity.

Function details

clear()

void sofa::type::Frame::clear

(

)

Reset the transformation to identity.

getBasis() [1/2]

Frame::Mat33 & sofa::type::Frame::getBasis

(

)

The columns represent the base vectors of the local frame wrt the reference frame.

getBasis() [2/2]

const Frame::Mat33 & sofa::type::Frame::getBasis

(

)

const

The columns represent the base vectors of the local frame wrt the reference frame.

getOrigin() [1/2]

Vec3 & sofa::type::Frame::getOrigin

(

)

Origin of the local frame in the reference frame,.

getOrigin() [2/2]

const Vec3 & sofa::type::Frame::getOrigin

(

)

const

Origin of the local frame in the reference frame,.

identity()

Frame sofa::type::Frame::identity ( )

static

The identity transform.

inversed()

Frame sofa::type::Frame::inversed

(

)

const

Transformation from the reference frame to the local frame.

Compute the transformation from the parent to the child.

mult()

Frame sofa::type::Frame::mult

(

const Frame &

c

)

const

compute the product with another frame on the right

multRight()

void sofa::type::Frame::multRight

(

const Frame &

c

)

Apply a transformation defined in the child frame (mult. right)

projectPoint()

template<class V >

V sofa::type::Frame::projectPoint ( const V &  v ) const

inline

compute the projection of a point from the local frame to the reference frame

projectVector()

template<class V >

V sofa::type::Frame::projectVector ( const V &  v ) const

inline

compute the projection of a vector from the local frame to the reference frame

setBasis()

void sofa::type::Frame::setBasis

(

const Mat33 &

m

)

The columns represent the base vectors of the local frame wrt the reference frame.

setOrigin()

void sofa::type::Frame::setOrigin

(

const Vec3 &

origin

)

Set the origin of the local frame in the reference frame,.

setTransform()

void sofa::type::Frame::setTransform	(	const Vec3 &	origin,
		const Quat &	orientation,
		const Vec3 &	scale
	)

Define the local frame using three transforms

writeOpenGlMatrix() [1/2]

void sofa::type::Frame::writeOpenGlMatrix

(

double *

m

)

const

Write the OpenGL transformation matrix to a double[16].

Write the OpenGL transformation matrix.

writeOpenGlMatrix() [2/2]

void sofa::type::Frame::writeOpenGlMatrix

(

float *

m

)

const

Write the OpenGL transformation matrix to a float[16].

Write the OpenGL transformation matrix.

Related details

operator<<

std::ostream& operator<< ( std::ostream &  out, const Frame &  c  )

friend