sofa::defaulttype::RigidCoord< 3, real > Class Template Reference
#include <RigidTypes.h>
Public Types | |
| enum | { static_size = 3 } |
| typedef real | value_type |
| typedef real | Real |
| typedef Vec< 3, Real > | Vec3 |
| typedef helper::Quater< Real > | Quat |
Public Member Functions | |
| RigidCoord (const Vec3 &posCenter, const Quat &orient) | |
| RigidCoord () | |
| template<typename real2 > | |
| RigidCoord (const RigidCoord< 3, real2 > &c) | |
| void | clear () |
| template<typename real2 > | |
| void | operator= (const RigidCoord< 3, real2 > &c) |
| void | operator+= (const RigidDeriv< 3, real > &a) |
| RigidCoord< 3, real > | operator+ (const RigidDeriv< 3, real > &a) const |
| RigidCoord< 3, real > | operator- (const RigidCoord< 3, real > &a) const |
| void | operator+= (const RigidCoord< 3, real > &a) |
| template<typename real2 > | |
| void | operator*= (real2 a) |
| template<typename real2 > | |
| RigidCoord< 3, real > | operator* (real2 a) const |
| Real | operator* (const RigidCoord< 3, real > &a) const |
| dot product, mostly used to compute residuals as sqrt(x*x) | |
| real | norm2 () const |
| Squared norm. | |
| real | norm () const |
| Euclidean norm. | |
| Vec3 & | getCenter () |
| Quat & | getOrientation () |
| const Vec3 & | getCenter () const |
| const Quat & | getOrientation () const |
| void | multRight (const RigidCoord< 3, real > &c) |
| Apply a transformation with respect to itself. | |
| RigidCoord< 3, real > | mult (const RigidCoord< 3, real > &c) const |
| compute the product with another frame on the right | |
| template<class Mat > | |
| void | fromMatrix (const Mat &m) const |
| Set from the given matrix. | |
| template<class Mat > | |
| void | toMatrix (Mat &m) const |
| Write to the given matrix. | |
| template<class Mat > | |
| void | writeRotationMatrix (Mat &m) const |
| void | writeOpenGlMatrix (float m[16]) const |
| Write the OpenGL transformation matrix. | |
| Vec3 | vectorToChild (const Vec3 &v) const |
| compute the projection of a vector from the parent frame to the child | |
| real * | ptr () |
| const real * | ptr () const |
| real & | operator[] (int i) |
| Access to i-th element. | |
| const real & | operator[] (int i) const |
| Const access to i-th element. | |
Static Public Member Functions | |
| static RigidCoord< 3, real > | identity () |
| static int | max_size () |
| static unsigned int | size () |
Protected Attributes | |
| Vec3 | center |
| Quat | orientation |
Friends | |
| std::ostream & | operator<< (std::ostream &out, const RigidCoord< 3, real > &v) |
| write to an output stream | |
| std::istream & | operator>> (std::istream &in, RigidCoord< 3, real > &v) |
| read from an input stream | |
Detailed Description
template<typename real>
class sofa::defaulttype::RigidCoord< 3, real >
Definition at line 210 of file RigidTypes.h.
Member Typedef Documentation
| typedef helper::Quater<Real> sofa::defaulttype::RigidCoord< 3, real >::Quat |
Definition at line 216 of file RigidTypes.h.
| typedef real sofa::defaulttype::RigidCoord< 3, real >::Real |
Definition at line 214 of file RigidTypes.h.
| typedef real sofa::defaulttype::RigidCoord< 3, real >::value_type |
Definition at line 213 of file RigidTypes.h.
Definition at line 215 of file RigidTypes.h.
Member Enumeration Documentation
| anonymous enum |
Constructor & Destructor Documentation
| sofa::defaulttype::RigidCoord< 3, real >::RigidCoord | ( | const Vec3 & | posCenter, | |
| const Quat & | orient | |||
| ) | [inline] |
Definition at line 222 of file RigidTypes.h.
| sofa::defaulttype::RigidCoord< 3, real >::RigidCoord | ( | ) | [inline] |
| sofa::defaulttype::RigidCoord< 3, real >::RigidCoord | ( | const RigidCoord< 3, real2 > & | c | ) | [inline] |
Definition at line 227 of file RigidTypes.h.
Member Function Documentation
| void sofa::defaulttype::RigidCoord< 3, real >::clear | ( | ) | [inline] |
Definition at line 233 of file RigidTypes.h.
| void sofa::defaulttype::RigidCoord< 3, real >::fromMatrix | ( | const Mat & | m | ) | const [inline] |
| const Vec3& sofa::defaulttype::RigidCoord< 3, real >::getCenter | ( | ) | const [inline] |
Definition at line 329 of file RigidTypes.h.
| Vec3& sofa::defaulttype::RigidCoord< 3, real >::getCenter | ( | ) | [inline] |
Definition at line 327 of file RigidTypes.h.
Referenced by multRight(), operator+=(), and operator-().
| const Quat& sofa::defaulttype::RigidCoord< 3, real >::getOrientation | ( | void | ) | const [inline] |
Definition at line 330 of file RigidTypes.h.
| Quat& sofa::defaulttype::RigidCoord< 3, real >::getOrientation | ( | void | ) | [inline] |
| static RigidCoord<3,real> sofa::defaulttype::RigidCoord< 3, real >::identity | ( | ) | [inline, static] |
Definition at line 332 of file RigidTypes.h.
| static int sofa::defaulttype::RigidCoord< 3, real >::max_size | ( | ) | [inline, static] |
Definition at line 403 of file RigidTypes.h.
| RigidCoord<3,real> sofa::defaulttype::RigidCoord< 3, real >::mult | ( | const RigidCoord< 3, real > & | c | ) | const [inline] |
compute the product with another frame on the right
Definition at line 345 of file RigidTypes.h.
References center, and getOrientation().
| void sofa::defaulttype::RigidCoord< 3, real >::multRight | ( | const RigidCoord< 3, real > & | c | ) | [inline] |
Apply a transformation with respect to itself.
Definition at line 338 of file RigidTypes.h.
References getCenter(), and getOrientation().
| real sofa::defaulttype::RigidCoord< 3, real >::norm | ( | ) | const [inline] |
Euclidean norm.
Definition at line 321 of file RigidTypes.h.
References norm2(), and sofa::helper::rsqrt().
| real sofa::defaulttype::RigidCoord< 3, real >::norm2 | ( | ) | const [inline] |
| Real sofa::defaulttype::RigidCoord< 3, real >::operator* | ( | const RigidCoord< 3, real > & | a | ) | const [inline] |
dot product, mostly used to compute residuals as sqrt(x*x)
Definition at line 304 of file RigidTypes.h.
References center, and orientation.
| RigidCoord<3,real> sofa::defaulttype::RigidCoord< 3, real >::operator* | ( | real2 | a | ) | const [inline] |
Definition at line 292 of file RigidTypes.h.
| void sofa::defaulttype::RigidCoord< 3, real >::operator*= | ( | real2 | a | ) | [inline] |
Definition at line 284 of file RigidTypes.h.
| RigidCoord<3,real> sofa::defaulttype::RigidCoord< 3, real >::operator+ | ( | const RigidDeriv< 3, real > & | a | ) | const [inline] |
Definition at line 259 of file RigidTypes.h.
References sofa::defaulttype::RigidDeriv< 3, real >::getVCenter(), and sofa::defaulttype::RigidDeriv< 3, real >::getVOrientation().
| void sofa::defaulttype::RigidCoord< 3, real >::operator+= | ( | const RigidCoord< 3, real > & | a | ) | [inline] |
| void sofa::defaulttype::RigidCoord< 3, real >::operator+= | ( | const RigidDeriv< 3, real > & | a | ) | [inline] |
| RigidCoord<3,real> sofa::defaulttype::RigidCoord< 3, real >::operator- | ( | const RigidCoord< 3, real > & | a | ) | const [inline] |
Definition at line 271 of file RigidTypes.h.
References getCenter(), sofa::helper::Quater< Real >::inverse(), and orientation.
| void sofa::defaulttype::RigidCoord< 3, real >::operator= | ( | const RigidCoord< 3, real2 > & | c | ) | [inline] |
Definition at line 236 of file RigidTypes.h.
| const real& sofa::defaulttype::RigidCoord< 3, real >::operator[] | ( | int | i | ) | const [inline] |
| real& sofa::defaulttype::RigidCoord< 3, real >::operator[] | ( | int | i | ) | [inline] |
| const real* sofa::defaulttype::RigidCoord< 3, real >::ptr | ( | ) | const [inline] |
Definition at line 410 of file RigidTypes.h.
| real* sofa::defaulttype::RigidCoord< 3, real >::ptr | ( | ) | [inline] |
Definition at line 409 of file RigidTypes.h.
| static unsigned int sofa::defaulttype::RigidCoord< 3, real >::size | ( | void | ) | [inline, static] |
Definition at line 412 of file RigidTypes.h.
| void sofa::defaulttype::RigidCoord< 3, real >::toMatrix | ( | Mat & | m | ) | const [inline] |
Write to the given matrix.
Definition at line 365 of file RigidTypes.h.
References sofa::defaulttype::Mat< L, C, real >::identity().
| Vec3 sofa::defaulttype::RigidCoord< 3, real >::vectorToChild | ( | const Vec3 & | v | ) | const [inline] |
compute the projection of a vector from the parent frame to the child
Definition at line 389 of file RigidTypes.h.
| void sofa::defaulttype::RigidCoord< 3, real >::writeOpenGlMatrix | ( | float | m[16] | ) | const [inline] |
| void sofa::defaulttype::RigidCoord< 3, real >::writeRotationMatrix | ( | Mat & | m | ) | const [inline] |
Definition at line 375 of file RigidTypes.h.
Friends And Related Function Documentation
| std::ostream& operator<< | ( | std::ostream & | out, | |
| const RigidCoord< 3, real > & | v | |||
| ) | [friend] |
| std::istream& operator>> | ( | std::istream & | in, | |
| RigidCoord< 3, real > & | v | |||
| ) | [friend] |
Field Documentation
Quat sofa::defaulttype::RigidCoord< 3, real >::orientation [protected] |
The documentation for this class was generated from the following file:
- framework/sofa/defaulttype/RigidTypes.h
