ark::Transform3

Defined in header “ark/geometry/forward.hh”.

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Typedefs

• using Vector3 = Eigen::Matrix< Scalar, 3, 1 >

• using Quaternion = Eigen::Quaternion< Scalar >

• using AngleAxis = Eigen::AngleAxis< Scalar >

• using Matrix3 = Eigen::Matrix< Scalar, 3, 3 >

• using Matrix4 = Eigen::Matrix< Scalar, 4, 4 >

• using Translation3 = Eigen::Translation< Scalar, 3 >

• using ETransform3 = Eigen::Transform< Scalar, 3, Eigen::Affine >

• using TransformMessage3 = std::conditional_t< std::is_same_v< Scalar, float >, TransformMessage3f, TransformMessage3d >

Methods

• Transform3()

• Transform3(ETransform3 dst_from_src)

• Transform3(Matrix4 dst_from_src)

• Transform3(Vector3 trans, Quaternion quat)

• Transform3(Vector3 trans, AngleAxis aa)

• Transform3(TransformMessage3 transform_message)

• Transform3(Transform2< Scalar > transform2)

• Transform3(Vector3 trans)

• Transform3(Quaternion quat)

• Transform3(AngleAxis aa)

• Transform3(const Matrix3 & rot)

• Transform3 inverse()

• bool isApprox(const Transform3 & other, Scalar prec)

• Vector3 translation()

• AngleAxis angle_axis()

• Quaternion quaternion()

• EulerZYX ezyx()

• Matrix3 rotation()

• Matrix4 matrix()

• const ETransform3 & eigen_transform()

• TransformMessage3 transform_message()

• Scalar x()

• Scalar y()

• Scalar z()

• Scalar heading2()

• Transform2< Scalar > to_2d()

• void translate(Scalar x, Scalar y, Scalar z)

• void translate(const Vector3 & t)

• void rotate(Scalar angle, const Vector3 & axis)

• bool operator==()

• Transform3< Other > cast()