mt::Transform Class Reference

Rigid transformation class. More...

#include <transform.h>

Public Member Functions
	Transform ()
	Default constructor. Creates identity transform.
	Transform (const Rotation &rotation, const Point3 &translation)
	Constructor for rotation and translation input.
Transform &	operator*= (const Transform &t)
	Obtains the composition of the current and input transforms.
Point3	operator() (const Point3 &p) const
	Applies transform to input point.
bool	operator== (const Transform &t) const
bool	operator!= (const Transform &t) const
Transform	inverse () const
	Inverse transform.
Point3	getTranslation () const
	Gets translational component of transform.
Point3 &	getTranslationRef ()
const Point3 &	getTranslationRef () const
Rotation	getRotation () const
	Gets rotational component of transform.
Rotation &	getRotationRef ()
const Rotation &	getRotationRef () const
void	setTranslation (const Point3 &translation)
	Sets translational component of transform.
void	setRotation (const Rotation &rotation)
	Sets rotational component of transform.
void	setIdentity ()
	Sets identity transform.

Detailed Description

Rigid transformation class.

The Transform class provides the usual operators and functions used for expressing and manipulating rigid transformations.

This is an example of how to use the Transform class:

using namespace mt;

// Constructor
const Unit3 axis(1.0, 0.0, 0.0);
const Scalar angle = HALF_PI;
const Rotation rot(axis, angle);  // Rotational part

const Point3 tr(2.0, -1.0, 1.0); // Translational part

const Transform T1(rot, tr);
const Transform T2 = T1 * T1;

// Applying a transform to a vector
const Point3 p_initial(0.0, 0.0, 1.0);
Point3 p_final;

p_final = T1(p_initial);           // p_final = [2.0, -2.0,  1.0]
p_final = T2(p_initial);           // p_final = [4.0, -2.0, -1.0]
p_final = (T1 * T1)(p_initial);    // Same as above
p_final = T2 * p_initial;          // Same as above
p_final = T1 * T1 * p_initial;     // Same as above

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

• mt/transform.h