amino  1.0-beta2
Lightweight Robot Utility Library
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amino::TfMat Struct Reference

A transformation matrix object. More...

#include <tf.hpp>

Inheritance diagram for amino::TfMat:
aa_tf_tfmat

Public Member Functions

 TfMat ()
 Construct an identity transformation matrix.
 
 TfMat (const struct aa_tf_tfmat *T)
 Construct a transformation matrix from another transformation matrix.
 
 TfMat (const struct aa_tf_tfmat &T)
 Construct a transformation matrix from another transformation matrix.
 
 TfMat (const struct aa_tf_duqu *S)
 Construct a transformation matrix from a dual quaternion.
 
 TfMat (const struct aa_tf_duqu &S)
 Construct a transformation matrix from a dual quaternion.
 
 TfMat (const struct aa_tf_qv *S)
 Construct a transformation matrix from a quaternion-translation.
 
 TfMat (const struct aa_tf_qv &S)
 Construct a transformation matrix from a quaternion-translation.
 
 TfMat (const struct aa_tf_quat *_r, const struct aa_tf_vec3 *_v)
 Construct a transformation matrix from a quaternion-translation.
 
 TfMat (const struct aa_tf_quat &_r, const struct aa_tf_vec3 &_v)
 Construct a transformation matrix from a quaternion-translation.
 

Static Public Member Functions

static aa_tf_tfmat from_duqu (const double s[8])
 Construct a transformation matrix from a dual quaternion.
 
static aa_tf_tfmat from_qv (const double q[4], const double v[3])
 Construct a transformation matrix from a rotation quaternion and translation vector.
 
static aa_tf_tfmat from_tfmat (const double t[12])
 Construct a transformation matrix from another transformation matrix.
 

Additional Inherited Members

- Public Attributes inherited from aa_tf_tfmat
union {
   struct {
      double   R [9]
 the rotation matrix part
 
      aa_tf_vec3_t   v
 the origin vector part
 
   } 
 
   double   data [12]
 data array
 
}; 
 

Detailed Description

A transformation matrix object.

Definition at line 889 of file tf.hpp.


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