math::se3< T > Struct Template Reference

SE(3) proper rigid transformation (rototranslation). More...

#include <se3.hpp>

Public Types
using	scalar_type = T
	Scalar type. More...
using	vector_type = vec3< T >
	Vector type. More...
using	quaternion_type = quat< T >
	Quaternion type. More...
using	matrix_type = mat4< T >
	Transformation matrix type. More...

Public Member Functions
constexpr se3	inverse () const noexcept
	Returns the inverse of this transformation. More...
template<class U >
constexpr	operator se3< U > () const noexcept
constexpr matrix_type	matrix () const noexcept
	Returns a matrix representation of this transformation. More...
constexpr	operator matrix_type () const noexcept
	Returns a matrix representation of this transformation. More...
constexpr vector_type	transform (const vector_type &v) const noexcept
	Transforms a vector by this transformation. More...
constexpr vector_type	operator* (const vector_type &v) const noexcept
	Transforms a vector by this transformation. More...
constexpr se3	transform (const se3 &xf) const noexcept
	Transforms an SE(3) transformation by this transformation. More...
constexpr se3	operator* (const se3 &xf) const noexcept
	Transforms an SE(3) transformation by this transformation. More...

Static Public Member Functions
static constexpr se3	identity () noexcept
	Returns an identity transformation. More...

Public Attributes
vector_type	t
	Vector representing the translation component of the transformation. More...
quaternion_type	r
	Quaternion representing the rotation component of the transformation. More...

Detailed Description

template<class T>
struct math::se3< T >

SE(3) proper rigid transformation (rototranslation).

Template Parameters

T	Scalar type.

Definition at line 34 of file se3.hpp.

Member Typedef Documentation

matrix_type

template<class T >

using math::se3< T >::matrix_type = mat4<T>

Transformation matrix type.

Definition at line 47 of file se3.hpp.

quaternion_type

template<class T >

using math::se3< T >::quaternion_type = quat<T>

Quaternion type.

Definition at line 44 of file se3.hpp.

scalar_type

template<class T >

using math::se3< T >::scalar_type = T

Scalar type.

Definition at line 38 of file se3.hpp.

vector_type

template<class T >

using math::se3< T >::vector_type = vec3<T>

Vector type.

Definition at line 41 of file se3.hpp.

Member Function Documentation

identity()

template<class T >

static constexpr se3 math::se3< T >::identity ( )

inlinestaticconstexprnoexcept

Returns an identity transformation.

Definition at line 132 of file se3.hpp.

inverse()

template<class T >

constexpr se3 math::se3< T >::inverse ( ) const

inlineconstexprnoexcept

Returns the inverse of this transformation.

Definition at line 56 of file se3.hpp.

matrix()

template<class T >

constexpr matrix_type math::se3< T >::matrix ( ) const

inlineconstexprnoexcept

Returns a matrix representation of this transformation.

Definition at line 63 of file se3.hpp.

operator matrix_type()

template<class T >

constexpr math::se3< T >::operator matrix_type ( ) const

inlineexplicitconstexprnoexcept

Returns a matrix representation of this transformation.

Definition at line 74 of file se3.hpp.

operator se3< U >()

template<class T >

template<class U >

constexpr math::se3< T >::operator se3< U > ( ) const

inlineexplicitconstexprnoexcept

Definition at line 126 of file se3.hpp.

operator*() [1/2]

template<class T >

constexpr se3 math::se3< T >::operator* ( const se3< T > &  xf ) const

inlineconstexprnoexcept

Transforms an SE(3) transformation by this transformation.

Parameters

xf	SE(3) transformation.

Returns

Frame in this se3's space.

Definition at line 112 of file se3.hpp.

operator*() [2/2]

template<class T >

constexpr vector_type math::se3< T >::operator* ( const vector_type &  v ) const

inlineconstexprnoexcept

Transforms a vector by this transformation.

Parameters

v	Untransformed vector.

Returns

Transformed vector.

Definition at line 93 of file se3.hpp.

transform() [1/2]

template<class T >

constexpr se3 math::se3< T >::transform ( const se3< T > &  xf ) const

inlineconstexprnoexcept

Transforms an SE(3) transformation by this transformation.

Parameters

xf	SE(3) transformation.

Returns

Frame in this se3's space.

Definition at line 107 of file se3.hpp.

transform() [2/2]

template<class T >

constexpr vector_type math::se3< T >::transform ( const vector_type &  v ) const

inlineconstexprnoexcept

Transforms a vector by this transformation.

Parameters

v	Untransformed vector.

Returns

Transformed vector.

Definition at line 88 of file se3.hpp.

Member Data Documentation

r

template<class T >

quaternion_type math::se3< T >::r

Quaternion representing the rotation component of the transformation.

Definition at line 53 of file se3.hpp.

t

template<class T >

vector_type math::se3< T >::t

Vector representing the translation component of the transformation.

Definition at line 50 of file se3.hpp.

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

• se3.hpp