A generic 3D transformation, support for uncertain transformation. More...

Detailed Description

A generic 3D transformation, support for uncertain transformation.

Definition at line 22 of file t3d.hpp.

#include <t3d.hpp>

Inheritance diagram for jafar::geom::T3D:

Public Types
enum	Type { EULER, QUATERNION, ROTATION_VECTOR, IDENTITY }
enum	Standard { CALIFE_TO_JAFAR, JAFAR_TO_CALIFE }
Public Member Functions
T3D &	operator= (const T3D &t)
	Assign t to the current object.
void	assign (T3D const &t)
	Assign t to the current object.
virtual Type	type () const =0
std::size_t	size () const
jblas::vec const &	getX () const
jblas::vec &	getX ()
jblas::sym_mat const &	getXCov () const
jblas::sym_mat &	getXCov ()
jblas::vec	getXStdDev ()
	Returns the square root of the diagonal of XCov.
const jblas::mat44 &	getM () const
jblas::mat33	getR () const
jblas::vec3	getT () const
bool	hasCov () const
bool	is2D () const
bool	isMuptodate () const
bool	isIdentity () const
void	clear ()
	clear x and xCov (to zero)
void	set (const jblas::vec &x_)
	set the value of the T3D to x_
void	set (const jblas::mat &M_)
	set the value of the T3D to the matrix M_
void	set (const jblas::mat &R_, const jblas::vec &t_)
	set the value of the T3D to the rotation matrix R_ and translation t_
void	set (const jblas::vec &x_, const jblas::vec &xStdDev_)
	set the value of the T3D to x_ with standard deviation xStdDev__
void	set (const jblas::vec &x_, const jblas::sym_mat &xCov_)
	set the value of the T3D to x_ with covariance xCov_
void	set2D (bool is2D=true)
	set the 2D flag
void	rearrange (const Standard &standard=JAFAR_TO_CALIFE)
	inverts order of rotation subvector and translation subvector : either you know what you're doing and use it or not so DON'T use it cause any t3d operation will give you false result created it since I was bothered with all the inversions and those stuff in my code and here seems to be the right place for it.
Static Public Member Functions
static void	inv (T3D const &t, T3D &t_inv)
	Compute inverse transformation of t_ , result is stored in t_inv.
static void	inv (T3D const &t, T3D &t_inv, jblas::mat &J)
	Compute inverse transformation of t_ , result is stored in t_inv.
static void	compose (T3D const &t1, T3D const &t2, T3D &t3)
	Compose t1_ and t2_, the result is stored in t3_.
static void	composeIncr (T3D &t1, T3D const &t2)
	Compose t1_ and t2_, the result is stored in t1_.
static void	compose (T3D const &t1, T3D const &t2, T3D &t3, jblas::mat &J1, jblas::mat &J2)
	Compose t1_ and t2_, the result is stored in t3_, and also save the jacobian in J1 and J2.
static void	convert (T3D const &t1, T3D &t2)
	Convert t1_ to t2 format, result is stored in t2.
template<class T3D_res >
static T3D_res	compose (T3D const &t1, T3D const &t2)
template<class T3D_res >
static T3D_res	inv (T3D const &t)
static T3D *	create (Type type)
	Factory method, returns a t3d from its type.
static T3D *	clone (T3D const &t)
	Factory method, clone t.
Protected Member Functions
	T3D (std::size_t size, bool hasCov_)
	T3D (std::size_t size, const jblas::vec &x_, bool hasCov_)
	T3D (std::size_t size, const jblas::vec &x_, const jblas::vec &xStdDev_)
	T3D (std::size_t size, const jblas::vec &x_, const jblas::sym_mat &xCov_)
	T3D (const jblas::mat &M_)
	T3D (const T3D &t_)
virtual void	updateM () const =0
	update the homogeneous matrix from x.
virtual void	updateX ()=0
	update x from the homogeneous matrix.
void	loadKeyValueFile (jafar::kernel::KeyValueFile const &keyValueFile)
	Implement this method calling repeatedly KeyValueFile::getItem() method.
void	saveKeyValueFile (jafar::kernel::KeyValueFile &keyValueFile)
	Implement this method calling repeatedly KeyValueFile::setItem() method.
void	writeLogHeader (jafar::kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
void	writeLogData (jafar::kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
Protected Attributes
jblas::vec	x
	vector representing the t3d.
jblas::sym_mat	xCov
	covariance of x
jblas::mat44	M
	homogeneous matrix of the t3d.
bool	p_hasCov
bool	p_is2D
bool	p_isMuptodate
Static Private Member Functions
static void	invImpl (T3D const &t, T3D &t_inv)
Friends
std::ostream &	operator<< (std::ostream &s, const T3D &t3d)
	t3d output stream function

Member Enumeration Documentation

enum jafar::geom::T3D::Type

Enumerator:

EULER	jafar::geom::T3DEuler
QUATERNION	jafar::geom::T3DQuaternion
ROTATION_VECTOR	jafar::geom::T3DRotationVector
IDENTITY	jafar::geom::T3DIdentity

Definition at line 26 of file t3d.hpp.

Member Function Documentation

void jafar::geom::T3D::assign ( T3D const & t )

Assign t to the current object.

T3D t can be of any type.

static void jafar::geom::T3D::compose	(	T3D const &	t1,
		T3D const &	t2,
		T3D &	t3
	)		`[static]`

Compose t1_ and t2_, the result is stored in t3_.

Warning:: t3_ must be a different object than t1_ and t2_.

static void jafar::geom::T3D::compose	(	T3D const &	t1,
		T3D const &	t2,
		T3D &	t3,
		jblas::mat &	J1,
		jblas::mat &	J2
	)		`[static]`

Compose t1_ and t2_, the result is stored in t3_, and also save the jacobian in J1 and J2.

This compose function don't set the covariance of t3_.

Warning:: t3_ must be a different object than t1_ and t2_.

static void jafar::geom::T3D::inv	(	T3D const &	t,
		T3D &	t_inv
	)		`[static]`

Compute inverse transformation of t_ , result is stored in t_inv.

Warning:: t_ and t_inv must be two different objects

static void jafar::geom::T3D::inv	(	T3D const &	t,
		T3D &	t_inv,
		jblas::mat &	J
	)		`[static]`

Compute inverse transformation of t_ , result is stored in t_inv.

Warning:: t_ and t_inv must be two different objects

T3D& jafar::geom::T3D::operator= ( const T3D & t )

Assign t to the current object.

If t3d can be of different type, use assign().

void jafar::geom::T3D::rearrange ( const Standard & standard = JAFAR_TO_CALIFE )

inverts order of rotation subvector and translation subvector : either you know what you're doing and use it or not so DON'T use it cause any t3d operation will give you false result created it since I was bothered with all the inversions and those stuff in my code and here seems to be the right place for it.

virtual Type jafar::geom::T3D::type ( ) const [pure virtual]