Transformations matrices for afine transformations. More...

#include <utl/TransformationMatrix.h>

Inheritance diagram for utl::TransformationMatrix:

Public Types
typedef boost::tuple< double, double, double >	Triple

Public Member Functions
boost::tuple < TransformationMatrix, TransformationMatrix >	Decompose () const
	Decomposition into Translation and Rotation. More...

double	Distance (const TransformationMatrix &second) const
	Distance between transformations (useful for testing) More...

TransformationMatrix	Inverse () const
	Inverse transformation. More...

TransformationMatrix &	operator*= (const TransformationMatrix &second)
	Chaining of transformations. More...

	TransformationMatrix ()

Static Public Member Functions
static TransformationMatrix	Rotation (const double angle, const double x, const double y, const double z)
	Rotation by angle about axis given by three components. More...

static TransformationMatrix	Rotation (const double angle, const Triple &v)

static TransformationMatrix	RotationX (const double angle)
	Rotation by angle about X axis. More...

static TransformationMatrix	RotationY (const double angle)
	Rotation by angle about Y axis. More...

static TransformationMatrix	RotationZ (const double angle)
	Rotation by angle about Z axis. More...

static TransformationMatrix	TransformToBasis (const double x1, const double y1, const double z1, const double x2, const double y2, const double z2, const double x3, const double y3, const double z3)
	From dreibein (basis vectors) More...

static TransformationMatrix	Translation (const double x, const double y, const double z)
	Translation. More...

Static Public Attributes
static const int	kDimension = 4
	Dimension of transformation matrix. More...

Private Types
typedef HepGeom::Transform3D	InternalTransform

Private Member Functions
	TransformationMatrix (const InternalTransform &transform)
	Private constructor to build transformation from HepGeom::Transform3D. More...

Private Attributes
InternalTransform	fTransform
	The concrete transformation object. More...

Friends
template<class Vector >
class	BasicVector

class	io::CoordinateSystem_ROOT

std::ostream &	operator<< (std::ostream &s, const TransformationMatrix &m)

class	TransformationPolicy

Detailed Description

Transformations matrices for afine transformations.

This class provides the transformations between coordinate systems and the objects contained in them.

We restrict ourselves to the commonly used transformations:

Rotations
Translations
Reflections

The current implementation does not provide scaling transformations. Transformations to non-orthogonal bases will never be provided by this package.

Special, named constructors create special transformations like rotations or translations.

All transformation are relative, so they do not require a coordinate system to be valid.

Author: Lukas Nellen

Date: 23 May 2003

Definition at line 55 of file TransformationMatrix.h.

Member Typedef Documentation

typedef HepGeom::Transform3D utl::TransformationMatrix::InternalTransform

private

Definition at line 107 of file TransformationMatrix.h.

typedef boost::tuple<double, double, double> utl::TransformationMatrix::Triple

Definition at line 58 of file TransformationMatrix.h.

Constructor & Destructor Documentation

utl::TransformationMatrix::TransformationMatrix ( )

inline

Definition at line 63 of file TransformationMatrix.h.

Referenced by Decompose(), Inverse(), Rotation(), RotationX(), RotationY(), RotationZ(), TransformToBasis(), and Translation().

utl::TransformationMatrix::TransformationMatrix ( const InternalTransform & transform )

inlineprivate

Private constructor to build transformation from HepGeom::Transform3D.

Definition at line 110 of file TransformationMatrix.h.

Member Function Documentation

boost::tuple< TransformationMatrix, TransformationMatrix > TransformationMatrix::Decompose ( ) const

Decomposition into Translation and Rotation.

The original transformation is recovered as

T = trans * rot

Definition at line 71 of file TransformationMatrix.cc.

References fTransform, and TransformationMatrix().

double TransformationMatrix::Distance ( const TransformationMatrix & second ) const

Distance between transformations (useful for testing)

The distance functions is implemented using a simple metric on the space of matrices:

$||A - B|| = \sqrt{\sum_{ij}(A_{ij}-B_{ij})^2}$

The actual implementation is delegated.

Definition at line 40 of file TransformationMatrix.cc.

References fTransform, and sqrt().

Referenced by utl::TransformationPolicy::Distance(), testTransformationMatrix::testDistance(), testTransformationMatrix::testDreibein(), testTransformationMatrix::testRotation(), testTransformationMatrix::testTransformation(), and testTransformationMatrix::testTranslation().

TransformationMatrix TransformationMatrix::Inverse ( ) const

Inverse transformation.

Definition at line 63 of file TransformationMatrix.cc.

References fTransform, and TransformationMatrix().

Referenced by utl::DerivedCSPolicy::FromTransformation(), utl::BaseCSPolicy::FromTransformation(), utl::CoordinateTransformer::GetTransformationTo(), and testTransformationMatrix::testRotation().

TransformationMatrix & TransformationMatrix::operator*= ( const TransformationMatrix & second )

Chaining of transformations.

Definition at line 23 of file TransformationMatrix.cc.

References fTransform.

TransformationMatrix TransformationMatrix::Rotation	(	const double	angle,
		const double	x,
		const double	y,
		const double	z
	)

static

Rotation by angle about axis given by three components.

Create a TransformationMatrix representing a rotation

Definition at line 103 of file TransformationMatrix.cc.

References TransformationMatrix().

Referenced by utl::TransformerConstructor< Policy >::Rotation(), testTransformationMatrix::testRotation(), and testTransformationMatrix::testTransformation().

TransformationMatrix TransformationMatrix::Rotation	(	const double	angle,
		const Triple &	v
	)

static

Create a TransformationMatrix representing a rotation

Definition at line 114 of file TransformationMatrix.cc.

References TransformationMatrix().

TransformationMatrix TransformationMatrix::RotationX ( const double angle )

static

Rotation by angle about X axis.

Create a TransformationMatrix representing a rotation about the X axis

Definition at line 127 of file TransformationMatrix.cc.

References TransformationMatrix().

Referenced by utl::TransformerConstructor< Policy >::RotationX(), testTransformationMatrix::testDreibein(), and testTransformationMatrix::testRotation().

TransformationMatrix TransformationMatrix::RotationY ( const double angle )

static

Rotation by angle about Y axis.

Create a TransformationMatrix representing a rotation about the Y axis

Definition at line 137 of file TransformationMatrix.cc.

References TransformationMatrix().

Referenced by utl::TransformerConstructor< Policy >::RotationY(), testTransformationMatrix::testDreibein(), and testTransformationMatrix::testRotation().

TransformationMatrix TransformationMatrix::RotationZ ( const double angle )

static

Rotation by angle about Z axis.

Create a TransformationMatrix representing a rotation about the Z axis

Definition at line 147 of file TransformationMatrix.cc.

References TransformationMatrix().

Referenced by utl::TransformerConstructor< Policy >::RotationZ(), PlotGOESNS::PlotGOES::Run(), testTransformationMatrix::testDreibein(), and testTransformationMatrix::testRotation().

TransformationMatrix TransformationMatrix::TransformToBasis	(	const double	x1,
		const double	y1,
		const double	z1,
		const double	x2,
		const double	y2,
		const double	z2,
		const double	x3,
		const double	y3,
		const double	z3
	)

static

From dreibein (basis vectors)

Definition at line 154 of file TransformationMatrix.cc.

References TransformationMatrix().

Referenced by testTransformationMatrix::testDreibein(), and utl::ReferenceEllipsoid::TransformECEFToLocalSystem().

TransformationMatrix TransformationMatrix::Translation	(	const double	x,
		const double	y,
		const double	z
	)

static

Translation.

Create a TransformationMatrix representing a translation

Definition at line 93 of file TransformationMatrix.cc.

References TransformationMatrix().

Referenced by testTransformationMatrix::testTransformation(), testTransformationMatrix::testTranslation(), utl::ReferenceEllipsoid::TransformECEFToLocalSystem(), and utl::TransformerConstructor< Policy >::Translation().

Friends And Related Function Documentation

template<class Vector >

friend class BasicVector

friend

Definition at line 121 of file TransformationMatrix.h.

friend class io::CoordinateSystem_ROOT

friend

Definition at line 124 of file TransformationMatrix.h.

std::ostream& operator<<	(	std::ostream &	s,
		const TransformationMatrix &	m
	)

friend

friend class TransformationPolicy

friend

Definition at line 122 of file TransformationMatrix.h.

Member Data Documentation

InternalTransform utl::TransformationMatrix::fTransform

private

The concrete transformation object.

The concrete transformation object is owned by the TransformationMatrix class. This means that each constructor has to allocate one, and the destructor has to delete it.

Definition at line 119 of file TransformationMatrix.h.

Referenced by io::CoordinateSystem_ROOT::CoordinateSystem_ROOT(), Decompose(), Distance(), Inverse(), utl::TransformationPolicy::operator*(), operator*=(), and utl::operator<<().

const int utl::TransformationMatrix::kDimension = 4

static

Dimension of transformation matrix.

Definition at line 61 of file TransformationMatrix.h.

Referenced by utl::operator<<().

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

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation