IMP::algebra::Transformation3D Class Reference

Simple 3D transformation class. More...

#include <IMP/algebra/Transformation3D.h>

Inheritance diagram for IMP::algebra::Transformation3D:

Detailed Description

Simple 3D transformation class.

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

See Also

IMP::core::Transform See geometric primitives for more information.

Definition at line 37 of file Transformation3D.h.

Public Member Functions
	Transformation3D (const Transformation3D &)=default
	Transformation3D ()
	Default construct (makes an invalid transformation) More...
	Transformation3D (const Rotation3D &r, const Vector3D &t=Vector3D(0, 0, 0))
	Basic constructor. More...
	Transformation3D (const Vector3D &t)
	Construct a transformation with an identity rotation. More...
Transformation3D	get_inverse () const
bool	get_is_valid () const
const Rotation3D &	get_rotation () const
	Return the rotation associated with this transformation. More...
Vector3D	get_transformed (const Vector3D &o) const
	Transform. More...
void	get_transformed_adjoint (const Vector3D &v, const Vector3D &Dw, Vector3D *Dv, Transformation3DAdjoint *DT) const
	Get adjoint of inputs to get_transformed from adjoint of output. More...
TransformedVector3DAdjoint	get_transformed_adjoint (const Vector3D &v, const Vector3D &Dw) const
	Get adjoint of inputs to get_transformed from adjoint of output. More...
const Vector3D &	get_translation () const
	Return the translation vector associated with this transformation. More...
Vector3D	operator* (const Vector3D &v) const
	Apply transformation (rotate and then translate) More...
Transformation3D	operator* (const Transformation3D &tr) const
const Transformation3D &	operator*= (const Transformation3D &o)
Transformation3D	operator/ (const Transformation3D &b) const
	Compute the transformation which, when composed with b, gives *this. More...
const Transformation3D &	operator/= (const Transformation3D &o)
Transformation3D &	operator= (const Transformation3D &)=default
void	show (std::ostream &out=std::cout) const

Constructor & Destructor Documentation

IMP::algebra::Transformation3D::Transformation3D

(

)

Default construct (makes an invalid transformation)

Definition at line 41 of file Transformation3D.h.

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

Basic constructor.

Definition at line 43 of file Transformation3D.h.

IMP::algebra::Transformation3D::Transformation3D

(

const Vector3D &

t

)

Construct a transformation with an identity rotation.

Definition at line 46 of file Transformation3D.h.

Member Function Documentation

bool IMP::algebra::Transformation3D::get_is_valid

(

)

const

Returns

true if the 3D transformation is valid; false if the transformation was initialized only with the empty constructor, or it was initialized with an invalid rotation.

Definition at line 114 of file Transformation3D.h.

const Rotation3D& IMP::algebra::Transformation3D::get_rotation

(

)

const

Return the rotation associated with this transformation.

Definition at line 99 of file Transformation3D.h.

Vector3D IMP::algebra::Transformation3D::get_transformed

(

const Vector3D &

o

)

const

Transform.

Definition at line 50 of file Transformation3D.h.

void IMP::algebra::Transformation3D::get_transformed_adjoint	(	const Vector3D &	v,
		const Vector3D &	Dw,
		Vector3D *	Dv,
		Transformation3DAdjoint *	DT
	)		const

Get adjoint of inputs to get_transformed from adjoint of output.

Compute the adjoint (reverse-mode sensitivity) of input vector to get_transformed and this transformation from the adjoint of the output vector.

TransformedVector3DAdjoint IMP::algebra::Transformation3D::get_transformed_adjoint	(	const Vector3D &	v,
		const Vector3D &	Dw
	)		const

Get adjoint of inputs to get_transformed from adjoint of output.

Compute the adjoint (reverse-mode sensitivity) of input vector to get_transformed and this transformation from the adjoint of the output vector.

const Vector3D& IMP::algebra::Transformation3D::get_translation

(

)

const

Return the translation vector associated with this transformation.

Definition at line 102 of file Transformation3D.h.

Vector3D IMP::algebra::Transformation3D::operator*

(

const Vector3D &

v

)

const

Apply transformation (rotate and then translate)

Definition at line 73 of file Transformation3D.h.

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 76 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 89 of file Transformation3D.h.

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

• Transformation3D.h