CustusX  2021.04.21-dev+develop.337f9
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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 69 of file cxFrame3D.h.

Constructor & Destructor Documentation

cx::Frame3D::Frame3D ( )

Definition at line 101 of file cxFrame3D.cpp.

cx::Frame3D::~Frame3D ( )

Definition at line 107 of file cxFrame3D.cpp.

Member Function Documentation

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

Create from affine matrix

Definition at line 128 of file cxFrame3D.cpp.

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

Definition at line 180 of file cxFrame3D.cpp.

boost::array< double, 6 > cx::Frame3D::getCompactAxisAngleRep ( ) const

Definition at line 168 of file cxFrame3D.cpp.

Vector3D cx::Frame3D::getEulerXYZ ( ) const

Definition at line 111 of file cxFrame3D.cpp.

void cx::Frame3D::put ( std::ostream &  s) const

Definition at line 162 of file cxFrame3D.cpp.

Vector3D cx::Frame3D::rotationAxis ( ) const

Definition at line 145 of file cxFrame3D.cpp.

void cx::Frame3D::setEulerXYZ ( const Vector3D xyz)

Definition at line 119 of file cxFrame3D.cpp.

void cx::Frame3D::setRotationAxis ( const Vector3D k)

Definition at line 150 of file cxFrame3D.cpp.

void cx::Frame3D::test ( )
Transform3D cx::Frame3D::transform ( ) const

Definition at line 140 of file cxFrame3D.cpp.

Member Data Documentation

Eigen::AngleAxisd cx::Frame3D::mAngleAxis

angle-axis representation of rotation

Definition at line 88 of file cxFrame3D.h.

Vector3D cx::Frame3D::mPos


Definition at line 89 of file cxFrame3D.h.

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