OpenTissue::math::CoordSys< value_type_ > Class Template Reference

#include <math_coordsys.h>

List of all members.

Public Types
typedef value_traits_	value_traits
	Convience typedef to make value traits accesible for all template functions using Vector3 types.
typedef value_type_	value_type
	Typedef is required for compliance with many other libraries and data containers!
typedef Vector3< value_type >	vector3_type
typedef Quaternion< value_type >	quaternion_type
typedef Matrix3x3< value_type >	matrix3x3_type
typedef Quaternion< value_type >	rotation_type
	typedef to make interface for different coordsystypes the same
Public Member Functions
vector3_type &	T ()
vector3_type const &	T () const
quaternion_type &	Q ()
quaternion_type const &	Q () const
	CoordSys ()
	CoordSys (vector3_type const &T_val, quaternion_type const &Q_val)
	CoordSys (vector3_type const &T_val, matrix3x3_type const &R_val)
CoordSys &	operator= (CoordSys const &C)
bool	operator== (CoordSys const &C) const
void	identity ()
void	xform_point (vector3_type &p) const
void	xform_vector (vector3_type &v) const
void	xform_matrix (matrix3x3_type &O) const
CoordSys	operator* (CoordSys const &X1) const
bool	is_equal (CoordSys const &C, value_type const &accuracy) const
Protected Types
typedef OpenTissue::math::ValueTraits < value_type_ >	value_traits_
Protected Attributes
vector3_type	m_T
	The Position.
quaternion_type	m_Q
	The orientation in Quaternion form.

---

Detailed Description

template<typename value_type_>
class OpenTissue::math::CoordSys< value_type_ >

A Coordinate System.

Remeber, this represents a transform that brings you from a local frame into a global frame, that is:

BF -> WCS

---

Member Typedef Documentation

template<typename value_type_>

typedef Matrix3x3<value_type> OpenTissue::math::CoordSys< value_type_ >::matrix3x3_type

template<typename value_type_>

typedef Quaternion<value_type> OpenTissue::math::CoordSys< value_type_ >::quaternion_type

template<typename value_type_>

typedef Quaternion<value_type> OpenTissue::math::CoordSys< value_type_ >::rotation_type

typedef to make interface for different coordsystypes the same

template<typename value_type_>

typedef value_traits_ OpenTissue::math::CoordSys< value_type_ >::value_traits

Convience typedef to make value traits accesible for all template functions using Vector3 types.

template<typename value_type_>

typedef OpenTissue::math::ValueTraits<value_type_> OpenTissue::math::CoordSys< value_type_ >::value_traits_ [protected]

template<typename value_type_>

typedef value_type_ OpenTissue::math::CoordSys< value_type_ >::value_type

Typedef is required for compliance with many other libraries and data containers!

template<typename value_type_>

typedef Vector3<value_type> OpenTissue::math::CoordSys< value_type_ >::vector3_type

---

Constructor & Destructor Documentation

template<typename value_type_>

OpenTissue::math::CoordSys< value_type_ >::CoordSys

(

)

[inline]

template<typename value_type_>

OpenTissue::math::CoordSys< value_type_ >::CoordSys	(	vector3_type const &	T_val,
		quaternion_type const &	Q_val
	)			[inline, explicit]

template<typename value_type_>

OpenTissue::math::CoordSys< value_type_ >::CoordSys	(	vector3_type const &	T_val,
		matrix3x3_type const &	R_val
	)			[inline, explicit]

---

Member Function Documentation

template<typename value_type_>

void OpenTissue::math::CoordSys< value_type_ >::identity

(

)

[inline]

template<typename value_type_>

bool OpenTissue::math::CoordSys< value_type_ >::is_equal	(	CoordSys< value_type_ > const &	C,
		value_type const &	accuracy
	)			const [inline]

template<typename value_type_>

CoordSys OpenTissue::math::CoordSys< value_type_ >::operator*

(

CoordSys< value_type_ > const &

X1

)

const [inline]

Transform Coordinate System. This method transforms the specified coordinate system by this coordinate transform.

That is:

Tnew = Tx Rx Told Rnew = Rx Rold

Parameters:

X

The transform by which the current transform should be changed with..

template<typename value_type_>

CoordSys& OpenTissue::math::CoordSys< value_type_ >::operator=

(

CoordSys< value_type_ > const &

C

)

[inline]

template<typename value_type_>

bool OpenTissue::math::CoordSys< value_type_ >::operator==

(

CoordSys< value_type_ > const &

C

)

const [inline]

template<typename value_type_>

quaternion_type const& OpenTissue::math::CoordSys< value_type_ >::Q

(

)

const [inline]

template<typename value_type_>

quaternion_type& OpenTissue::math::CoordSys< value_type_ >::Q

(

)

[inline]

template<typename value_type_>

vector3_type const& OpenTissue::math::CoordSys< value_type_ >::T

(

)

const [inline]

template<typename value_type_>

vector3_type& OpenTissue::math::CoordSys< value_type_ >::T

(

)

[inline]

template<typename value_type_>

void OpenTissue::math::CoordSys< value_type_ >::xform_matrix

(

matrix3x3_type &

O

)

const [inline]

Transform Matrix.

Parameters:

O

A reference to a rotation matrix, which should be transformed.

template<typename value_type_>

void OpenTissue::math::CoordSys< value_type_ >::xform_point

(

vector3_type &

p

)

const [inline]

This method assumes that the point is in this coordinate system. In other words this method maps local points into non local points:

BF -> WCS

Let p be the point and let f designate the function of this method then we have

[p]_WCS = f(p)

template<typename value_type_>

void OpenTissue::math::CoordSys< value_type_ >::xform_vector

(

vector3_type &

v

)

const [inline]

This method assumes that the vector is in this coordinate system. That is it maps the vector from BF into WCS.

---

Member Data Documentation

template<typename value_type_>

quaternion_type OpenTissue::math::CoordSys< value_type_ >::m_Q [protected]

The orientation in Quaternion form.

template<typename value_type_>

vector3_type OpenTissue::math::CoordSys< value_type_ >::m_T [protected]

The Position.

---

The documentation for this class was generated from the following file:

• /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/core/math/math_coordsys.h