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CustusX
22.09
An IGT application
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Defines an axis-angle representation of a position+orientation in 3D space. More...
#include <cxFrame3D.h>
Public Member Functions | |
Transform3D | transform () const |
Vector3D | rotationAxis () const |
void | setRotationAxis (const Vector3D &k) |
void | put (std::ostream &s) const |
void | test () |
boost::array< double, 6 > | getCompactAxisAngleRep () const |
Vector3D | getEulerXYZ () const |
void | setEulerXYZ (const Vector3D &xyz) |
Frame3D () | |
virtual | ~Frame3D () |
Static Public Member Functions | |
static Frame3D | create (const Transform3D &transform) |
static Frame3D | fromCompactAxisAngleRep (const boost::array< double, 6 > &rep) |
Public Attributes | |
Eigen::AngleAxisd | mAngleAxis |
angle-axis representation of rotation More... | |
Vector3D | mPos |
position More... | |
Defines an axis-angle representation of a position+orientation in 3D space.
The frame describes a coordinate space B related to A. The transform for the frame F_B, T_B, can be used to convert points in B to points in A: p_B = T_B * p_B
Definition at line 69 of file cxFrame3D.h.
cx::Frame3D::Frame3D | ( | ) |
Definition at line 101 of file cxFrame3D.cpp.
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virtual |
Definition at line 107 of file cxFrame3D.cpp.
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static |
Create from affine matrix
Definition at line 128 of file cxFrame3D.cpp.
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static |
Definition at line 180 of file cxFrame3D.cpp.
boost::array< double, 6 > cx::Frame3D::getCompactAxisAngleRep | ( | ) | const |
Definition at line 168 of file cxFrame3D.cpp.
Vector3D cx::Frame3D::getEulerXYZ | ( | ) | const |
Definition at line 111 of file cxFrame3D.cpp.
void cx::Frame3D::put | ( | std::ostream & | s | ) | const |
Definition at line 162 of file cxFrame3D.cpp.
Vector3D cx::Frame3D::rotationAxis | ( | ) | const |
Definition at line 145 of file cxFrame3D.cpp.
void cx::Frame3D::setEulerXYZ | ( | const Vector3D & | xyz | ) |
Definition at line 119 of file cxFrame3D.cpp.
void cx::Frame3D::setRotationAxis | ( | const Vector3D & | k | ) |
Definition at line 150 of file cxFrame3D.cpp.
void cx::Frame3D::test | ( | ) |
Transform3D cx::Frame3D::transform | ( | ) | const |
Definition at line 140 of file cxFrame3D.cpp.
Eigen::AngleAxisd cx::Frame3D::mAngleAxis |
angle-axis representation of rotation
Definition at line 88 of file cxFrame3D.h.
Vector3D cx::Frame3D::mPos |
position
Definition at line 89 of file cxFrame3D.h.