Definitions of 2x2 and 3x3 rigid (isometric) transforms. More...

#include <Eigen/Core>
#include <Eigen/Geometry>
#include "SurgSim/Math/Quaternion.h"

Namespaces
	SurgSim
	Wraps glewInit() to separate the glew opengl definitions from the osg opengl definitions only imgui needs glew but we need to call glewInit() from a osg callback, using this call we avoid getting warnings about redefinitions.

Typedefs
typedef Eigen::Transform< float, 2, Eigen::Isometry >	SurgSim::Math::RigidTransform2f
	A 2D rigid (isometric) transform, represented as floats. More...

typedef Eigen::Transform< float, 3, Eigen::Isometry >	SurgSim::Math::RigidTransform3f
	A 3D rigid (isometric) transform, represented as floats. More...

typedef Eigen::Transform< double, 2, Eigen::Isometry >	SurgSim::Math::RigidTransform2d
	A 2D rigid (isometric) transform, represented as doubles. More...

typedef Eigen::Transform< double, 3, Eigen::Isometry >	SurgSim::Math::RigidTransform3d
	A 3D rigid (isometric) transform, represented as doubles. More...

Functions
template<typename M , typename V >
Eigen::Transform< typename M::Scalar, M::RowsAtCompileTime, Eigen::Isometry >	SurgSim::Math::makeRigidTransform (const Eigen::MatrixBase< M > &rotation, const Eigen::MatrixBase< V > &translation)
	Create a rigid transform using the specified rotation matrix and translation. More...

template<typename Q , typename V >
Eigen::Transform< typename Q::Scalar, 3, Eigen::Isometry >	SurgSim::Math::makeRigidTransform (const Eigen::QuaternionBase< Q > &rotation, const Eigen::MatrixBase< V > &translation)
	Create a rigid transform using the specified rotation quaternion and translation. More...

template<typename T , int VOpt>
Eigen::Transform< T, 3, Eigen::Isometry >	SurgSim::Math::makeRigidTransform (const Eigen::Matrix< T, 3, 1, VOpt > &position, const Eigen::Matrix< T, 3, 1, VOpt > &center, const Eigen::Matrix< T, 3, 1, VOpt > &up)
	Make a rigid transform from a eye point a center view point and an up direction, does not check whether up is colinear with eye-center The original formula can be found at http://www.opengl.org/sdk/docs/man2/xhtml/gluLookAt.xml. More...

template<typename V >
Eigen::Transform< typename V::Scalar, V::SizeAtCompileTime, Eigen::Isometry >	SurgSim::Math::makeRigidTranslation (const Eigen::MatrixBase< V > &translation)
	Create a rigid transform using the identity rotation and the specified translation. More...

template<typename T , int TOpt>
Eigen::Transform< T, 3, Eigen::Isometry >	SurgSim::Math::interpolate (const Eigen::Transform< T, 3, Eigen::Isometry, TOpt > &t0, const Eigen::Transform< T, 3, Eigen::Isometry, TOpt > &t1, T t)
	Interpolate (slerp) between 2 rigid transformations. More...

Detailed Description

Definitions of 2x2 and 3x3 rigid (isometric) transforms.

Typedef Documentation

§ RigidTransform2d

typedef Eigen::Transform<double, 2, Eigen::Isometry> SurgSim::Math::RigidTransform2d

A 2D rigid (isometric) transform, represented as doubles.

This type (and any struct that contain it) can be safely allocated via new.

§ RigidTransform2f

typedef Eigen::Transform<float, 2, Eigen::Isometry> SurgSim::Math::RigidTransform2f

A 2D rigid (isometric) transform, represented as floats.

This type (and any struct that contain it) can be safely allocated via new.

§ RigidTransform3d

typedef Eigen::Transform<double, 3, Eigen::Isometry> SurgSim::Math::RigidTransform3d

A 3D rigid (isometric) transform, represented as doubles.

This type (and any struct that contain it) can be safely allocated via new.

§ RigidTransform3f

typedef Eigen::Transform<float, 3, Eigen::Isometry> SurgSim::Math::RigidTransform3f

A 3D rigid (isometric) transform, represented as floats.

This type (and any struct that contain it) can be safely allocated via new.

Function Documentation

§ interpolate()

template<typename T , int TOpt>

Eigen::Transform<T, 3, Eigen::Isometry> SurgSim::Math::interpolate	(	const Eigen::Transform< T, 3, Eigen::Isometry, TOpt > &	t0,
		const Eigen::Transform< T, 3, Eigen::Isometry, TOpt > &	t1,
		T	t
	)

inline

Interpolate (slerp) between 2 rigid transformations.

Template Parameters

T	the numeric data type used for arguments and the return value. Can usually be deduced.
TOpt	the option flags (alignment etc.) used for the Transform arguments. Can be deduced.

Parameters

t0	The start transform (at time 0.0).
t1	The end transform (at time 1.0).
t	The interpolation time requested. Within [0..1].

Returns: the transform resulting in the slerp interpolation at time t, between t0 and t1.

Note: t=0 => returns t0; t=1 => returns t1

§ makeRigidTransform() [1/3]

template<typename M , typename V >

Eigen::Transform<typename M::Scalar, M::RowsAtCompileTime, Eigen::Isometry> SurgSim::Math::makeRigidTransform	(	const Eigen::MatrixBase< M > &	rotation,
		const Eigen::MatrixBase< V > &	translation
	)

inline

Create a rigid transform using the specified rotation matrix and translation.

Template Parameters

M	the type used to describe the rotation matrix. Can usually be deduced.
V	the type used to describe the translation vector. Can usually be deduced.

Parameters

rotation	the rotation matrix.
translation	the translation vector.

Returns: the transform with the specified rotation and translation.

§ makeRigidTransform() [2/3]

template<typename Q , typename V >

Eigen::Transform<typename Q::Scalar, 3, Eigen::Isometry> SurgSim::Math::makeRigidTransform	(	const Eigen::QuaternionBase< Q > &	rotation,
		const Eigen::MatrixBase< V > &	translation
	)

inline

Create a rigid transform using the specified rotation quaternion and translation.

Template Parameters

Q	the type used to describe the rotation quaternion. Can usually be deduced.
V	the type used to describe the translation vector. Can usually be deduced.

Parameters

rotation	the rotation quaternion.
translation	the translation vector.

Returns: the transform with the specified rotation and translation.

§ makeRigidTransform() [3/3]

template<typename T , int VOpt>

Eigen::Transform<T, 3, Eigen::Isometry> SurgSim::Math::makeRigidTransform	(	const Eigen::Matrix< T, 3, 1, VOpt > &	position,
		const Eigen::Matrix< T, 3, 1, VOpt > &	center,
		const Eigen::Matrix< T, 3, 1, VOpt > &	up
	)

inline

Make a rigid transform from a eye point a center view point and an up direction, does not check whether up is colinear with eye-center The original formula can be found at http://www.opengl.org/sdk/docs/man2/xhtml/gluLookAt.xml.

Template Parameters

typename	T T the numeric data type used for arguments and the return value. Can usually be deduced.
int	VOpt VOpt the option flags (alignment etc.) used for the axis vector argument. Can be deduced.

Parameters

position	The position of the object.
center	The point to which the object should point.
up	The up vector to be used for this calculation.

Returns: a RigidTransform that locates the object at position rotated into the direction of center.

§ makeRigidTranslation()

template<typename V >

Eigen::Transform<typename V::Scalar, V::SizeAtCompileTime, Eigen::Isometry> SurgSim::Math::makeRigidTranslation ( const Eigen::MatrixBase< V > & translation )

inline

Create a rigid transform using the identity rotation and the specified translation.

Template Parameters

V	the type used to describe the translation vector. Can usually be deduced.

Parameters

translation the translation vector.

Returns: the transform with the identity rotation and the specified translation.

Namespaces

Typedefs

Functions

Detailed Description

Typedef Documentation

§ RigidTransform2d

§ RigidTransform2f

§ RigidTransform3d

§ RigidTransform3f

Function Documentation

§ interpolate()

§ makeRigidTransform() [1/3]

§ makeRigidTransform() [2/3]

§ makeRigidTransform() [3/3]

§ makeRigidTranslation()