sofa::type::Transform< TReal > Class Template Reference

#include <Transform.h>

Detailed Description

template<class TReal>
class sofa::type::Transform< TReal >

Define a frame (child) with respect to another (parent). A frame represents a local coordinate system.

Internal data represents the orientation of the child wrt the parent, BUT the translation vector represents the origin of the parent with respect to the child. For example, the coordinates M_p of point M in parent given the coordinates M_c of the same point in child are given by: M_p = orientation * ( M_c - origin ). This is due to Featherstone's conventions. Use method setTranslationRotation( const Vec& t, const Rot& q ) to model the Transform the standard way (i.e. translation given in the parent frame).

Protected Attributes
Rot	orientation_
	child wrt parent More...
Vec	origin_
	parent wrt child More...

Public Member Functions
	Transform ()
	The default constructor does not initialize the transform. More...
	Transform (const Vec &origin, const Rot &orientation)
	Origin of the child in parent coordinates, orientation of the child wrt to parent. More...
	Transform (const Rot &q, const Vec &o)
	WARNING: using Featherstone's conventions (see class documentation) More...
void	set (const Vec &t, const Rot &q)
	Origin of the child in the parent coordinate system and the orientation of the child wrt the parent (i.e. standard way) More...
void	clear ()
	Reset this to identity. More...
	Transform (const SpatialVector< TReal > &v)
	Origin of the child in the parent coordinate system and the orientation of the child wrt the parent (i.e. standard way) More...
Transform	inversed () const
	The inverse transform i.e. parent wrt child. More...
const Vec &	getOriginOfParentInChild () const
	Parent origin in child coordinates (the way it is actually stored internally) More...
Vec	getOrigin () const
	Origin of child in parent coordinates. More...
void	setOrigin (const Vec &)
	Origin of child in parent coordinates. More...
const Rot &	getOrientation () const
	Orientation of the child coordinate axes wrt the parent coordinate axes. More...
void	setOrientation (const Rot &)
	Orientation of the child coordinate axes wrt the parent coordinate axes. More...
Mat3x3	getRotationMatrix () const
	Matrix which projects vectors from child coordinates to parent coordinates. The columns of the matrix are the axes of the child base axes in the parent coordinate system. More...
Mat6x6	getAdjointMatrix () const
	Adjoint matrix to the transform This matrix transports velocities in twist coordinates from the child frame to the parent frame. Its inverse transpose does the same for the wrenches. More...
Vec	projectVector (const Vec &vectorInChild) const
	Project a vector (i.e. a direction or a displacement) from child coordinates to parent coordinates. More...
Vec	projectPoint (const Vec &pointInChild) const
	Project a point from child coordinates to parent coordinates. More...
Vec	backProjectVector (const Vec &vectorInParent) const
	Projected a vector (i.e. a direction or a displacement) from parent coordinates to child coordinates. More...
Vec	backProjectPoint (const Vec &pointInParent) const
	Project point from parent coordinates to this coordinates. More...
Transform	operator* (const Transform &f2) const
	Combine two transforms. If (*this) locates frame B (child) wrt frame A (parent) and if f2 locates frame C (child) wrt frame B (parent) then the result locates frame C wrt to Frame A. More...
Transform &	operator*= (const Transform &f2)
	Combine two transforms. If (*this) locates frame B (child) wrt frame A (parent) and if f2 locates frame C (child) wrt frame B (parent) then the result locates frame C wrt to Frame A. More...
SpatialVector< TReal >	CreateSpatialVector ()
SpatialVector< TReal >	DTrans ()
SpatialVector< TReal >	operator* (const SpatialVector< TReal > &sv) const
SpatialVector< TReal >	operator/ (const SpatialVector< TReal > &sv) const
	Project a spatial vector from parent to child (the inverse of operator *). This method computes (*this).inversed()*sv without inverting (*this). More...
void	writeOpenGlMatrix (double *m) const
	Write an OpenGL matrix encoding the transformation of the coordinate system of the child wrt the coordinate system of the parent. More...
void	printInternal (std::ostream &) const
	Print the internal values (i.e. using Featherstone's conventions, see class documentation) More...
Time integration
Methods used in time integration
Transform &	operator+= (const SpatialVector< TReal > &a)
Transform &	operator+= (const Transform &a)
template<class Real2 >
Transform &	operator*= (Real2 a)
template<class Real2 >
Transform	operator* (Real2 a) const

Static Public Member Functions
static Transform	identity ()
	The identity transform (child = parent) More...

Friends
std::ostream &	operator<< (std::ostream &out, const Transform &t)
std::istream &	operator>> (std::istream &in, Transform &t)
	read from an input stream More...

Attribute details

orientation_

template<class TReal >

Rot sofa::type::Transform< TReal >::orientation_

protected

child wrt parent

origin_

template<class TReal >

Vec sofa::type::Transform< TReal >::origin_

protected

parent wrt child

Constructor details

Transform() [1/4]

template<class TReal >

sofa::type::Transform< TReal >::Transform

The default constructor does not initialize the transform.

Transform() [2/4]

template<class TReal >

sofa::type::Transform< TReal >::Transform	(	const Vec &	origin,
		const Rot &	orientation
	)

Origin of the child in parent coordinates, orientation of the child wrt to parent.

Define using standard conventions.

Transform() [3/4]

template<class TReal >

sofa::type::Transform< TReal >::Transform	(	const Rot &	q,
		const Vec &	o
	)

WARNING: using Featherstone's conventions (see class documentation)

Define using Featherstone's conventions.

Transform() [4/4]

template<class TReal >

sofa::type::Transform< TReal >::Transform

(

const SpatialVector< TReal > &

v

)

Origin of the child in the parent coordinate system and the orientation of the child wrt the parent (i.e. standard way)

Define as a given SpatialVector integrated during one second. The spatial vector is given in parent coordinates.

Define child as a given SpatialVector<TReal> integrated during one second, starting from the parent (used for time integration). The spatial vector is given in parent coordinates.

Function details

backProjectPoint()

template<class TReal >

auto sofa::type::Transform< TReal >::backProjectPoint

(

const Vec &

pointInParent

)

const

Project point from parent coordinates to this coordinates.

backProjectVector()

template<class TReal >

auto sofa::type::Transform< TReal >::backProjectVector

(

const Vec &

vectorInParent

)

const

Projected a vector (i.e. a direction or a displacement) from parent coordinates to child coordinates.

clear()

template<class TReal >

void sofa::type::Transform< TReal >::clear

Reset this to identity.

CreateSpatialVector()

template<class TReal >

SpatialVector< TReal > sofa::type::Transform< TReal >::CreateSpatialVector

Project a spatial vector from child to parent TODO One should handle differently the transformation of a twist and a wrench ! This applying the adjoint to velocities or its transpose to wrench : V_parent = Ad . V_child or W_child = Ad^T . W_parent To project a wrench in the child frame to the parent frame you need to do parent_wrench = this->inversed * child_wrench (this doc needs to be douv-ble checked !)

DTrans()

template<class TReal >

SpatialVector< TReal > sofa::type::Transform< TReal >::DTrans

getAdjointMatrix()

template<class TReal >

auto sofa::type::Transform< TReal >::getAdjointMatrix

Adjoint matrix to the transform This matrix transports velocities in twist coordinates from the child frame to the parent frame. Its inverse transpose does the same for the wrenches.

getOrientation()

template<class TReal >

const Transform< TReal >::Rot & sofa::type::Transform< TReal >::getOrientation

Orientation of the child coordinate axes wrt the parent coordinate axes.

getOrigin()

template<class TReal >

Transform< TReal >::Vec sofa::type::Transform< TReal >::getOrigin

Origin of child in parent coordinates.

getOriginOfParentInChild()

template<class TReal >

const Transform< TReal >::Vec & sofa::type::Transform< TReal >::getOriginOfParentInChild

Parent origin in child coordinates (the way it is actually stored internally)

getRotationMatrix()

template<class TReal >

auto sofa::type::Transform< TReal >::getRotationMatrix

Matrix which projects vectors from child coordinates to parent coordinates. The columns of the matrix are the axes of the child base axes in the parent coordinate system.

identity()

template<class TReal >

Transform< TReal > sofa::type::Transform< TReal >::identity

static

The identity transform (child = parent)

Define given the origin of the child wrt the parent and the orientation of the child wrt the parent (i.e. standard way)

inversed()

template<class TReal >

Transform< TReal > sofa::type::Transform< TReal >::inversed

The inverse transform i.e. parent wrt child.

operator*() [1/3]

template<class TReal >

SpatialVector< TReal > sofa::type::Transform< TReal >::operator*

(

const SpatialVector< TReal > &

sv

)

const

operator*() [2/3]

template<class TReal >

Transform< TReal > sofa::type::Transform< TReal >::operator*

(

const Transform< TReal > &

f2

)

const

Combine two transforms. If (*this) locates frame B (child) wrt frame A (parent) and if f2 locates frame C (child) wrt frame B (parent) then the result locates frame C wrt to Frame A.

operator*() [3/3]

template<class TReal >

template<class Real2 >

Transform sofa::type::Transform< TReal >::operator* ( Real2  a ) const

inline

operator*=() [1/2]

template<class TReal >

Transform< TReal > & sofa::type::Transform< TReal >::operator*=

(

const Transform< TReal > &

f2

)

Combine two transforms. If (*this) locates frame B (child) wrt frame A (parent) and if f2 locates frame C (child) wrt frame B (parent) then the result locates frame C wrt to Frame A.

operator*=() [2/2]

template<class TReal >

template<class Real2 >

Transform& sofa::type::Transform< TReal >::operator*= ( Real2  a )

inline

operator+=() [1/2]

template<class TReal >

Transform< TReal > & sofa::type::Transform< TReal >::operator+=

(

const SpatialVector< TReal > &

a

)

(this) *= Transform(v) Used for time integration. SHOULD WE RATHER APPLY (*this)=Transform(v)(*this) ???

operator+=() [2/2]

template<class TReal >

Transform< TReal > & sofa::type::Transform< TReal >::operator+=

(

const Transform< TReal > &

a

)

operator/()

template<class TReal >

SpatialVector< TReal > sofa::type::Transform< TReal >::operator/

(

const SpatialVector< TReal > &

sv

)

const

Project a spatial vector from parent to child (the inverse of operator *). This method computes (*this).inversed()*sv without inverting (*this).

printInternal()

template<class TReal >

void sofa::type::Transform< TReal >::printInternal

(

std::ostream &

out

)

const

Print the internal values (i.e. using Featherstone's conventions, see class documentation)

projectPoint()

template<class TReal >

auto sofa::type::Transform< TReal >::projectPoint

(

const Vec &

pointInChild

)

const

Project a point from child coordinates to parent coordinates.

projectVector()

template<class TReal >

Transform< TReal >::Vec sofa::type::Transform< TReal >::projectVector

(

const Vec &

vectorInChild

)

const

Project a vector (i.e. a direction or a displacement) from child coordinates to parent coordinates.

set()

template<class TReal >

void sofa::type::Transform< TReal >::set	(	const Vec &	t,
		const Rot &	q
	)

Origin of the child in the parent coordinate system and the orientation of the child wrt the parent (i.e. standard way)

Define given the origin of the child wrt the parent and the orientation of the child wrt the parent (i.e. standard way)

setOrientation()

template<class TReal >

void sofa::type::Transform< TReal >::setOrientation

(

const Rot &

q

)

Orientation of the child coordinate axes wrt the parent coordinate axes.

setOrigin()

template<class TReal >

void sofa::type::Transform< TReal >::setOrigin

(

const Vec &

op

)

Origin of child in parent coordinates.

writeOpenGlMatrix()

template<class TReal >

void sofa::type::Transform< TReal >::writeOpenGlMatrix

(

double *

m

)

const

Write an OpenGL matrix encoding the transformation of the coordinate system of the child wrt the coordinate system of the parent.

Related details

operator<<

template<class TReal >

std::ostream& operator<< ( std::ostream &  out, const Transform< TReal > &  t  )

friend

Draw the axes of the child coordinate system in the parent coordinate system Print the origin of the child in the parent coordinate system and the quaternion defining the orientation of the child wrt the parent

operator>>

template<class TReal >

std::istream& operator>> ( std::istream &  in, Transform< TReal > &  t  )

friend

read from an input stream