CustusX
18.04-rc5
An IGT application
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Helper class for visualizing rotational angles to a human user. More...
#include <cxFrame3D.h>
Public Member Functions | |
DecomposedTransform3D () | |
DecomposedTransform3D (Transform3D m) | |
void | reset (Transform3D m) |
reinitialize with a fresh matrix. More... | |
void | setAngles (Vector3D xyz) |
void | setPosition (Vector3D pos) |
Vector3D | getAngles () const |
Vector3D | getPosition () const |
Transform3D | getMatrix () const |
Helper class for visualizing rotational angles to a human user.
Upon initialization, the angles X,Y,Z are initialized with the Euler XYZ decomposition. Further calls to rotate() will be treated as rotation of that particular unit axis in the target space. Because these rotations are non-commuting, it is impossible to retrieve the angles from the resulting matrix. Instead, they are stored internally. An external change of the matrix (by using reset()) will cause the class to be reset with the Euler angles.
Definition at line 40 of file cxFrame3D.h.
cx::DecomposedTransform3D::DecomposedTransform3D | ( | ) |
Definition at line 19 of file cxFrame3D.cpp.
cx::DecomposedTransform3D::DecomposedTransform3D | ( | Transform3D | m | ) |
Definition at line 26 of file cxFrame3D.cpp.
Vector3D cx::DecomposedTransform3D::getAngles | ( | ) | const |
Definition at line 82 of file cxFrame3D.cpp.
Transform3D cx::DecomposedTransform3D::getMatrix | ( | ) | const |
Definition at line 92 of file cxFrame3D.cpp.
Vector3D cx::DecomposedTransform3D::getPosition | ( | ) | const |
Definition at line 87 of file cxFrame3D.cpp.
void cx::DecomposedTransform3D::reset | ( | Transform3D | m | ) |
reinitialize with a fresh matrix.
Definition at line 35 of file cxFrame3D.cpp.
void cx::DecomposedTransform3D::setAngles | ( | Vector3D | xyz | ) |
Definition at line 55 of file cxFrame3D.cpp.
void cx::DecomposedTransform3D::setPosition | ( | Vector3D | pos | ) |
Definition at line 76 of file cxFrame3D.cpp.