Simple 3D transformation class. More...

#include <IMP/algebra/Transformation3D.h>

Inheritance diagram for IMP::algebra::Transformation3D:

Public Member Functions
	Transformation3D ()
	construct an invalid transformation

	Transformation3D (const Rotation3D &r, const Vector3D &t=Vector3D(0, 0, 0))

	Transformation3D (const Vector3D &t)

Transformation3D	get_inverse () const

const Rotation3D &	get_rotation () const

Vector3D	get_transformed (const Vector3D &o) const
	transform

const Vector3D &	get_translation () const

Vector3D	operator* (const Vector3D &v) const
	apply transformation (rotate and then translate)

Transformation3D	operator* (const Transformation3D &tr) const

const Transformation3D &	*operator=** (const Transformation3D &o)

Transformation3D	operator/ (const Transformation3D &b) const

const Transformation3D &	operator/= (const Transformation3D &o)

void	show (std::ostream &out=std::cout) const

Related Functions
(Note that these are not member functions.)
Transformation3D	compose (const Transformation3D &a, const Transformation3D &b)
	compose two transformations More...

Transformation3D	get_identity_transformation_3d ()
	Return a transformation that does not do anything. More...

Transformation3D	get_rotation_about_point (const Vector3D &point, const Rotation3D &rotation)
	Generate a Transformation3D object from a rotation around a point. More...

template<class Vector3DsOrXYZs0 , class Vector3DsOrXYZs1 >
IMP::algebra::Transformation3D	get_transformation_aligning_first_to_second (const Vector3DsOrXYZs0 &source, const Vector3DsOrXYZs1 &target)
	Compute the rigid transform bringing the first point set to the second. More...

Detailed Description

The rotation is applied first, and then the point is translated.

See Also: IMP::core::Transform

Note: This class is a geometric primitive. Also, this class is not not initialized by its default constructor.

Definition at line 31 of file Transformation3D.h.

Constructor & Destructor Documentation

IMP::algebra::Transformation3D::Transformation3D	(	const Rotation3D &	r,
		const Vector3D &	t = `Vector3D(0,0,0)`
	)

basic constructor

Definition at line 37 of file Transformation3D.h.

IMP::algebra::Transformation3D::Transformation3D ( const Vector3D & t )

Construct a transformation with an identity rotation.

Definition at line 41 of file Transformation3D.h.

Member Function Documentation

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)

Definition at line 54 of file Transformation3D.h.

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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.

Definition at line 67 of file Transformation3D.h.

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Friends And Related Function Documentation

Transformation3D compose	(	const Transformation3D &	a,
		const Transformation3D &	b
	)

Definition at line 117 of file Transformation3D.h.

Transformation3D get_identity_transformation_3d ( )

Transformation3D get_rotation_about_point	(	const Vector3D &	point,
		const Rotation3D &	rotation
	)

Parameters

[in]	point	Center to rotate about
[in]	rotation	The rotation to perform

Definition at line 108 of file Transformation3D.h.

template<class Vector3DsOrXYZs0 , class Vector3DsOrXYZs1 >

IMP::algebra::Transformation3D get_transformation_aligning_first_to_second	(	const Vector3DsOrXYZs0 &	source,
		const Vector3DsOrXYZs1 &	target
	)

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

\[ \textit{argmin}_T \sum \left|T\left(f\left[i\right]\right)-t[i]\right|^2 \]

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.

See Also: Vector3D

Definition at line 46 of file geometric_alignment.h.

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

Public Member Functions

Related Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation