OpenTissue::skeleton::DefaultBoneTraits< math_types_ > Class Template Reference

#include <skeleton_default_bone_traits.h>

List of all members.

Public Types
typedef math_types_	math_types
typedef math_types::coordsys_type	transform_type
typedef math_types::coordsys_type	coordsys_type
typedef math_types::vector3_type	vector3_type
Static Public Member Functions
static coordsys_type	convert (coordsys_type const &T)
static transform_type	get_identity_transform ()
static transform_type	compute_absolute_pose_transform (transform_type const &parent, transform_type const &relative)
static transform_type	compute_bone_space_transform (transform_type const &absolute, transform_type const &bone_space)
static vector3_type	transform_point (transform_type const &T, vector3_type const &x)
static vector3_type	transform_vector (transform_type const &T, vector3_type const &v)

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Detailed Description

template<typename math_types_>
class OpenTissue::skeleton::DefaultBoneTraits< math_types_ >

Default Bone Traits. A bone transformation can be representated in many different ways. For instance using homegeneous matrices. In our default implementation we have choosen a compound type consisting of a vector and a quaternion. This type is called a coordsys_type.

The bone traits class offers functionality to work with differnet representations of the bone transformations.

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Member Typedef Documentation

template<typename math_types_>

typedef math_types::coordsys_type OpenTissue::skeleton::DefaultBoneTraits< math_types_ >::coordsys_type

template<typename math_types_>

typedef math_types_ OpenTissue::skeleton::DefaultBoneTraits< math_types_ >::math_types

template<typename math_types_>

typedef math_types::coordsys_type OpenTissue::skeleton::DefaultBoneTraits< math_types_ >::transform_type

Reimplemented in OpenTissue::kinematics::inverse::BoneTraits< base_bone_traits >.

template<typename math_types_>

typedef math_types::vector3_type OpenTissue::skeleton::DefaultBoneTraits< math_types_ >::vector3_type

Reimplemented in OpenTissue::kinematics::inverse::BoneTraits< base_bone_traits >.

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Member Function Documentation

template<typename math_types_>

static transform_type OpenTissue::skeleton::DefaultBoneTraits< math_types_ >::compute_absolute_pose_transform	(	transform_type const &	parent,
		transform_type const &	relative
	)			[inline, static]

Compute aboslute pose transformation.

Parameters:

	parent	The absolute transformation of the parent bone.
	relative	The relative transformation of the bone.

Returns:

The absolute transformation of the bone.

template<typename math_types_>

static transform_type OpenTissue::skeleton::DefaultBoneTraits< math_types_ >::compute_bone_space_transform	(	transform_type const &	absolute,
		transform_type const &	bone_space
	)			[inline, static]

Compute Bone Space Transformation.

Parameters:

	absolute	The absolute transformation of the bone.
	bone_space	The bone space location of the bone.

Returns:

The bone space transformation.

template<typename math_types_>

static coordsys_type OpenTissue::skeleton::DefaultBoneTraits< math_types_ >::convert

(

coordsys_type const &

T

)

[inline, static]

Convert. The convert function should be able to convert back and forth between a transform_type and a coordsys_type. In our case where our transform_type is simply a coordsys_type we can settle with a single and very simple implementation of the ``convert'' method. In a general setting one would probably have to make two overloaded versions of the convert function.

Parameters:

T

A value represented in the input type.

Returns:

The value in the output type.

template<typename math_types_>

static transform_type OpenTissue::skeleton::DefaultBoneTraits< math_types_ >::get_identity_transform

(

)

[inline, static]

Retrive Identity Transformation.

Returns:

Upon return the identity transformation is returned.

template<typename math_types_>

static vector3_type OpenTissue::skeleton::DefaultBoneTraits< math_types_ >::transform_point	(	transform_type const &	T,
		vector3_type const &	x
	)			[inline, static]

Transform a point by a specified transformation.

Parameters:

	T	The coordinate transformation that should be used.
	x	The point that should be transformed

Returns:

The transformed point.

template<typename math_types_>

static vector3_type OpenTissue::skeleton::DefaultBoneTraits< math_types_ >::transform_vector	(	transform_type const &	T,
		vector3_type const &	v
	)			[inline, static]

Transform a vector by a specified transformation.

Parameters:

	T	The coordinate transformation that should be used.
	v	The vector that should be transformed

Returns:

The transformed vector.

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

• /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/kinematics/skeleton/skeleton_default_bone_traits.h