LogRotationAndTranslation Class Reference

List of all members.

Public Member Functions
	LogRotationAndTranslation (const Matrix4D &m)
	LogRotationAndTranslation (const Matrix4D &m, const LogRotationAndTranslation &lg)
LogRotationAndTranslation	operator- (void) const
LogRotationAndTranslation	operator * (double scale) const
LogRotationAndTranslation &	operator *= (double scale)
LogRotationAndTranslation	operator/ (double scale) const
LogRotationAndTranslation &	operator/= (double scale)
LogRotationAndTranslation	operator+ (const LogRotationAndTranslation &q) const
LogRotationAndTranslation &	operator+= (const LogRotationAndTranslation &q)
LogRotationAndTranslation	operator- (const LogRotationAndTranslation &q) const
LogRotationAndTranslation &	operator-= (const LogRotationAndTranslation &q)
Public Attributes
Matrix3D	skewSymmetric
Point3D	translate

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Detailed Description

This class represents a transformation by the skew-symmetric log of the rotation and the translation

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Constructor & Destructor Documentation

LogRotationAndTranslation::LogRotationAndTranslation (  const Matrix4D &  m  )

This constructor sets the log of the rotation matrix and translation vector from the transformation matrix

LogRotationAndTranslation::LogRotationAndTranslation (  const Matrix4D &  m, const LogRotationAndTranslation &  lg )

Because the Logarithm of a rotation is not unique, the following method sets the Logarithm so that it is closest to the input ones

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Member Function Documentation

LogRotationAndTranslation LogRotationAndTranslation::operator * (  double  scale  )  const

This method scales the transformation parameters.

LogRotationAndTranslation & LogRotationAndTranslation::operator *= (  double  scale  )

This method scales the current transformation parameters by a constant factor.

LogRotationAndTranslation LogRotationAndTranslation::operator+ (  const LogRotationAndTranslation &  q  )  const

This method adds two sets of transformation parameters and returns their sum.

LogRotationAndTranslation & LogRotationAndTranslation::operator+= (  const LogRotationAndTranslation &  q  )

This method adds a set of transformation parameters to the current transformation parameters.

LogRotationAndTranslation LogRotationAndTranslation::operator- (  const LogRotationAndTranslation &  q  )  const

This method subtracts two sets of transformation parameters and returns their difference.

LogRotationAndTranslation LogRotationAndTranslation::operator- (  void   )  const

This method returns the negative of the transformation parameters

LogRotationAndTranslation & LogRotationAndTranslation::operator-= (  const LogRotationAndTranslation &  q  )

This method subtracts a set of transformation parameters from the current transformation parameters.

LogRotationAndTranslation LogRotationAndTranslation::operator/ (  double  scale  )  const

This method divides the coefficients of a the transformation parameters by a constant factor.

LogRotationAndTranslation & LogRotationAndTranslation::operator/= (  double  scale  )

This method divides the coefficients of the current transformation parameters by a constant factor.

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Member Data Documentation

Matrix3D LogRotationAndTranslation::skewSymmetric

The rotation

Point3D LogRotationAndTranslation::translate

The translation vector

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