LibXR::Transform< Scalar > Class Template Reference

表示三维空间中的刚体变换，包括旋转和位移。Represents rigid body transformations in 3D space, including rotation and translation. More...

#include <transform.hpp>

Collaboration diagram for LibXR::Transform< Scalar >:

Public Member Functions
	Transform ()=default
	默认构造函数，创建单位变换。Default constructor creating an identity transformation.
	Transform (const Quaternion< Scalar > &rotation, const Position< Scalar > &translation)
	使用给定的旋转和位移构造变换。Constructs a transformation with the given rotation and translation.
Transform &	operator= (const Quaternion< Scalar > &q)
	赋值运算符，将旋转部分设置为给定的四元数。Assignment operator setting the rotation component to the given quaternion.
Transform &	operator= (const Eigen::AngleAxis< Scalar > &a)
	赋值运算符，将旋转部分设置为给定的旋转轴-角度表示。Assignment operator setting the rotation component using an axis-angle representation.
Transform &	operator= (const Position< Scalar > &p)
	赋值运算符，将平移部分设置为给定的位移。Assignment operator setting the translation component to the given position.
Transform	operator+ (const Transform &t) const
	计算当前变换与另一个变换的组合。Computes the composition of the current transformation with another transformation.
Transform	operator- (const Transform &t) const
	计算当前变换与另一个变换的相对变换。Computes the relative transformation between the current transformation and another transformation.

Data Fields
Quaternion< Scalar >	rotation
Position< Scalar >	translation

Detailed Description

template<typename Scalar = DefaultScalar>
class LibXR::Transform< Scalar >

表示三维空间中的刚体变换，包括旋转和位移。Represents rigid body transformations in 3D space, including rotation and translation.

Template Parameters

Scalar

数据类型，默认为 DefaultScalar。Data type, defaulting to DefaultScalar.

Definition at line 1091 of file transform.hpp.

Constructor & Destructor Documentation

Transform()

template<typename Scalar = DefaultScalar>

LibXR::Transform< Scalar >::Transform ( const Quaternion< Scalar > &  rotation, const Position< Scalar > &  translation  )

inline

使用给定的旋转和位移构造变换。Constructs a transformation with the given rotation and translation.

Parameters

rotation	旋转四元数。Rotation quaternion.
translation	平移向量。Translation vector.

Definition at line 1109 of file transform.hpp.

      : rotation(rotation), translation(translation)
  {
  }

Member Function Documentation

operator+()

template<typename Scalar = DefaultScalar>

Transform LibXR::Transform< Scalar >::operator+ ( const Transform< Scalar > &  t ) const

inline

计算当前变换与另一个变换的组合。Computes the composition of the current transformation with another transformation.

Parameters

t	另一个变换。Another transformation.

Returns

组合后的变换。Resulting transformation.

Definition at line 1156 of file transform.hpp.

  {
    return Transform(Eigen::Quaternion<Scalar>(rotation * t.rotation),
                     Eigen::Matrix<Scalar, 3, 1>(translation + rotation * t.translation));
  }

operator-()

template<typename Scalar = DefaultScalar>

Transform LibXR::Transform< Scalar >::operator- ( const Transform< Scalar > &  t ) const

inline

计算当前变换与另一个变换的相对变换。Computes the relative transformation between the current transformation and another transformation.

Parameters

t	另一个变换。Another transformation.

Returns

计算得到的相对变换。Resulting relative transformation.

Definition at line 1168 of file transform.hpp.

  {
    return Transform(rotation / t.rotation, translation - t.translation);
  }

operator=() [1/3]

template<typename Scalar = DefaultScalar>

Transform & LibXR::Transform< Scalar >::operator= ( const Eigen::AngleAxis< Scalar > &  a )

inline

赋值运算符，将旋转部分设置为给定的旋转轴-角度表示。Assignment operator setting the rotation component using an axis-angle representation.

Parameters

a	旋转轴-角度对象。Axis-angle representation.

Returns

当前 Transform 对象的引用。Reference to the current Transform object.

Definition at line 1132 of file transform.hpp.

  {
    rotation = a;
    return *this;
  }

operator=() [2/3]

template<typename Scalar = DefaultScalar>

Transform & LibXR::Transform< Scalar >::operator= ( const Position< Scalar > &  p )

inline

赋值运算符，将平移部分设置为给定的位移。Assignment operator setting the translation component to the given position.

Parameters

p	平移向量。Translation vector.

Returns

当前 Transform 对象的引用。Reference to the current Transform object.

Definition at line 1144 of file transform.hpp.

  {
    translation = p;
    return *this;
  }

operator=() [3/3]

template<typename Scalar = DefaultScalar>

Transform & LibXR::Transform< Scalar >::operator= ( const Quaternion< Scalar > &  q )

inline

赋值运算符，将旋转部分设置为给定的四元数。Assignment operator setting the rotation component to the given quaternion.

Parameters

q	旋转四元数。Rotation quaternion.

Returns

当前 Transform 对象的引用。Reference to the current Transform object.

Definition at line 1120 of file transform.hpp.

  {
    rotation = q;
    return *this;
  }

Field Documentation

rotation

template<typename Scalar = DefaultScalar>

Quaternion<Scalar> LibXR::Transform< Scalar >::rotation

旋转部分，使用四元数表示。Rotation component represented by a quaternion.

Definition at line 1094 of file transform.hpp.

translation

template<typename Scalar = DefaultScalar>

Position<Scalar> LibXR::Transform< Scalar >::translation

平移部分，使用三维向量表示。Translation component represented by a 3D vector.

Definition at line 1096 of file transform.hpp.

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

• src/utils/transform.hpp