cx::Frame3D Class Reference

Defines an axis-angle representation of a position+orientation in 3D space. More...

#include <cxFrame3D.h>

Public Member Functions
Transform3D	transform () const
Vector3D	rotationAxis () const
void	setRotationAxis (const Vector3D &k)
void	put (std::ostream &s) const
void	test ()
boost::array< double, 6 >	getCompactAxisAngleRep () const
Vector3D	getEulerXYZ () const
void	setEulerXYZ (const Vector3D &xyz)
	Frame3D ()
virtual	~Frame3D ()

Static Public Member Functions
static Frame3D	create (const Transform3D &transform)
static Frame3D	fromCompactAxisAngleRep (const boost::array< double, 6 > &rep)

Public Attributes
Eigen::AngleAxisd	mAngleAxis
	angle-axis representation of rotation More...
Vector3D	mPos
	position More...

Detailed Description

Defines an axis-angle representation of a position+orientation in 3D space.

• ThetaXY+ThetaZ is the axis of rotation
• Phi is the amount of rotation
• P is the translation

The frame describes a coordinate space B related to A. The transform for the frame F_B, T_B, can be used to convert points in B to points in A: p_B = T_B * p_B

Definition at line 90 of file cxFrame3D.h.

Constructor & Destructor Documentation

cx::Frame3D::Frame3D

(

)

Definition at line 122 of file cxFrame3D.cpp.

cx::Frame3D::~Frame3D ( )

virtual

Definition at line 128 of file cxFrame3D.cpp.

Member Function Documentation

Frame3D cx::Frame3D::create ( const Transform3D &  T )

static

Create from affine matrix

Definition at line 149 of file cxFrame3D.cpp.

Frame3D cx::Frame3D::fromCompactAxisAngleRep ( const boost::array< double, 6 > &  rep )

static

Definition at line 201 of file cxFrame3D.cpp.

boost::array< double, 6 > cx::Frame3D::getCompactAxisAngleRep

(

)

const

Definition at line 189 of file cxFrame3D.cpp.

Vector3D cx::Frame3D::getEulerXYZ

(

)

const

Definition at line 132 of file cxFrame3D.cpp.

void cx::Frame3D::put

(

std::ostream &

s

)

const

Definition at line 183 of file cxFrame3D.cpp.

Vector3D cx::Frame3D::rotationAxis

(

)

const

Definition at line 166 of file cxFrame3D.cpp.

void cx::Frame3D::setEulerXYZ

(

const Vector3D &

xyz

)

Definition at line 140 of file cxFrame3D.cpp.

void cx::Frame3D::setRotationAxis

(

const Vector3D &

k

)

Definition at line 171 of file cxFrame3D.cpp.

void cx::Frame3D::test

(

)

Transform3D cx::Frame3D::transform

(

)

const

Definition at line 161 of file cxFrame3D.cpp.

Member Data Documentation

Eigen::AngleAxisd cx::Frame3D::mAngleAxis

angle-axis representation of rotation

Definition at line 109 of file cxFrame3D.h.

Vector3D cx::Frame3D::mPos

position

Definition at line 110 of file cxFrame3D.h.

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

• /media/dev/bamboodrive/b/xml-data/build-dir/CX-RE-JOB1/CX/CX/source/resource/core/Math/cxFrame3D.h
• /media/dev/bamboodrive/b/xml-data/build-dir/CX-RE-JOB1/CX/CX/source/resource/core/Math/cxFrame3D.cpp