Public Member Functions | |
| Transformation3D | get_inverse () const |
| const Rotation3D & | get_rotation () const |
| VectorD< 3 > | get_transformed (const VectorD< 3 > &o) const |
| transform | |
| const VectorD< 3 > & | get_translation () const |
| Transformation3D | operator* (const Transformation3D &tr) const |
| VectorD< 3 > | operator* (const VectorD< 3 > &v) const |
| apply transformation (rotate and then translate) | |
| const Transformation3D & | operator*= (const Transformation3D &o) |
| Transformation3D | operator/ (const Transformation3D &b) const |
| const Transformation3D & | operator/= (const Transformation3D &o) |
| Transformation3D (const VectorD< 3 > &t) | |
| Transformation3D (const Rotation3D &r, const VectorD< 3 > &t=VectorD< 3 >(0, 0, 0)) | |
| Transformation3D () | |
| construct an invalid transformation | |
Related Functions | |
| (Note that these are not member functions.) | |
| Transformation3D | compose (const Transformation3D &a, const Transformation3D &b) |
| compose two transformations | |
| Transformation3D | get_identity_transformation_3d () |
| Return a transformation that does not do anything. | |
| Transformation3D | get_rotation_about_point (const VectorD< 3 > &point, const Rotation3D &rotation) |
| Generate a Transformation3D object from a rotation around a point. | |
| template<class Vector3DsOrXYZs0 , class Vector3DsOrXYZs1 > | |
| IMP::algebra::Transformation3D | get_transformation_aligning_first_to_second (const Vector3DsOrXYZs0 &from, const Vector3DsOrXYZs1 &to) |
| Compute the rigid transform bringing the first point set to the second. | |
| Transformation3D | get_transformation_from_reference_frame (const VectorD< 3 > &u, const VectorD< 3 > &w, const VectorD< 3 > &base) |
| A rotation from the natural reference frame to one defined by u,w and base. The x-axis lies on u-base. The y-axis is perpendicular to both x and z. The z-axis is perpendicular to the u-base , w-base plane. | |
| IMP::algebra::Transformation3D::Transformation3D | ( | const Rotation3D & | r, | |
| const VectorD< 3 > & | t = VectorD<3>(0,0,0) | |||
| ) |
basic constructor
| IMP::algebra::Transformation3D::Transformation3D | ( | const VectorD< 3 > & | t | ) |
Construct a transformation with an identity rotation.
| Transformation3D IMP::algebra::Transformation3D::operator* | ( | const Transformation3D & | tr | ) | const |
compose two rigid transformation such that for any vector v (rt1*rt2)*v = rt1*(rt2*v)
| Transformation3D IMP::algebra::Transformation3D::operator/ | ( | const Transformation3D & | b | ) | const |
Compute the transformation which, when composed with b, gives *this. That is a(x)== d(b(x)) for all x.
For consistency, this should probably have a nice name, but I don't know what name to give it.
| Transformation3D compose | ( | const Transformation3D & | a, | |
| const Transformation3D & | b | |||
| ) | [related] |
compose two transformations
For any vector v (a*b)*v = a*(b*v).
| Transformation3D get_identity_transformation_3d | ( | ) | [related] |
Return a transformation that does not do anything.
| Transformation3D get_rotation_about_point | ( | const VectorD< 3 > & | point, | |
| const Rotation3D & | rotation | |||
| ) | [related] |
Generate a Transformation3D object from a rotation around a point.
Rotate about a point rather than the origin.
| [in] | point | Center to rotate about |
| [in] | rotation | The rotation to perform |
| IMP::algebra::Transformation3D get_transformation_aligning_first_to_second | ( | const Vector3DsOrXYZs0 & | from, | |
| const Vector3DsOrXYZs1 & | to | |||
| ) | [related] |
Compute the rigid transform bringing the first point set to the second.
The points are assumed to be corresponding (that is, from[0] is aligned to to[0] etc.). The alignment computed is that which minimized the sum of squared distances between corresponding points. Return the
![\[ \operatornamewithlimits{argmin}_T \sum \left|T\left(f\left[i\right]\right)-t[i]\right|^2 \]](form_4.png)
If the point sets lie in a 1 or 2 dimensional subspace, the alignment algorithm is unstable and not guaranteed to work. A warning is printed in this case.
| Transformation3D get_transformation_from_reference_frame | ( | const VectorD< 3 > & | u, | |
| const VectorD< 3 > & | w, | |||
| const VectorD< 3 > & | base | |||
| ) | [related] |
A rotation from the natural reference frame to one defined by u,w and base. The x-axis lies on u-base. The y-axis is perpendicular to both x and z. The z-axis is perpendicular to the u-base , w-base plane.
Generate a transformation from the natural reference-frame to a different one
| [in] | u | vector used to define the new reference frame |
| [in] | w | vector used to define the new reference frame |
| [in] | base | the center of the new reference frame |
