wpi::math::Transform3d Class Reference

Represents a transformation for a Pose3d in the pose's frame. More...

#include <wpi/math/geometry/Transform3d.hpp>

Public Member Functions
constexpr	Transform3d (const Pose3d &initial, const Pose3d &final)
	Constructs the transform that maps the initial pose to the final pose.
constexpr	Transform3d (Translation3d translation, Rotation3d rotation)
	Constructs a transform with the given translation and rotation components.
constexpr	Transform3d (wpi::units::meter_t x, wpi::units::meter_t y, wpi::units::meter_t z, Rotation3d rotation)
	Constructs a transform with x, y, and z translations instead of a separate Translation3d.
constexpr	Transform3d (const Eigen::Matrix4d &matrix)
	Constructs a transform with the specified affine transformation matrix.
constexpr	Transform3d ()=default
	Constructs the identity transform – maps an initial pose to itself.
constexpr	Transform3d (const wpi::math::Transform2d &transform)
	Constructs a 3D transform from a 2D transform in the X-Y plane.
constexpr const Translation3d &	Translation () const
	Returns the translation component of the transformation.
constexpr wpi::units::meter_t	X () const
	Returns the X component of the transformation's translation.
constexpr wpi::units::meter_t	Y () const
	Returns the Y component of the transformation's translation.
constexpr wpi::units::meter_t	Z () const
	Returns the Z component of the transformation's translation.
constexpr Eigen::Matrix4d	ToMatrix () const
	Returns an affine transformation matrix representation of this transformation.
constexpr const Rotation3d &	Rotation () const
	Returns the rotational component of the transformation.
constexpr Twist3d	Log () const
	Returns a Twist3d of the current transform (pose delta).
constexpr Transform3d	Inverse () const
	Invert the transformation.
constexpr Transform3d	operator* (double scalar) const
	Multiplies the transform by the scalar.
constexpr Transform3d	operator/ (double scalar) const
	Divides the transform by the scalar.
constexpr Transform3d	operator+ (const Transform3d &other) const
	Composes two transformations.
constexpr bool	operator== (const Transform3d &) const =default
	Checks equality between this Transform3d and another object.

Detailed Description

Represents a transformation for a Pose3d in the pose's frame.

Translation is applied before rotation. (The translation is applied in the pose's original frame, not the transformed frame.)

Constructor & Destructor Documentation

Transform3d() [1/6]

wpi::math::Transform3d::Transform3d ( const Pose3d & initial, const Pose3d & final )

constexpr

Constructs the transform that maps the initial pose to the final pose.

Parameters

initial	The initial pose for the transformation.
final	The final pose for the transformation.

Transform3d() [2/6]

wpi::math::Transform3d::Transform3d ( Translation3d translation, Rotation3d rotation )

inlineconstexpr

Constructs a transform with the given translation and rotation components.

Parameters

translation	Translational component of the transform.
rotation	Rotational component of the transform.

Transform3d() [3/6]

wpi::math::Transform3d::Transform3d ( wpi::units::meter_t x, wpi::units::meter_t y, wpi::units::meter_t z, Rotation3d rotation )

inlineconstexpr

Constructs a transform with x, y, and z translations instead of a separate Translation3d.

Parameters

x	The x component of the translational component of the transform.
y	The y component of the translational component of the transform.
z	The z component of the translational component of the transform.
rotation	The rotational component of the transform.

Transform3d() [4/6]

wpi::math::Transform3d::Transform3d ( const Eigen::Matrix4d & matrix )

inlineexplicitconstexpr

Constructs a transform with the specified affine transformation matrix.

Parameters

matrix

The affine transformation matrix.

Throws:

std::domain_error if the affine transformation matrix is invalid.

Transform3d() [5/6]

wpi::math::Transform3d::Transform3d ( )

constexprdefault

Constructs the identity transform – maps an initial pose to itself.

Transform3d() [6/6]

wpi::math::Transform3d::Transform3d ( const wpi::math::Transform2d & transform )

inlineexplicitconstexpr

Constructs a 3D transform from a 2D transform in the X-Y plane.

Parameters

transform

The 2D transform.

See also

Rotation3d(Rotation2d)

Translation3d(Translation2d)

Member Function Documentation

Inverse()

Transform3d wpi::math::Transform3d::Inverse ( ) const

inlineconstexpr

Invert the transformation.

This is useful for undoing a transformation.

Returns

The inverted transformation.

Log()

Twist3d wpi::math::Transform3d::Log ( ) const

constexpr

Returns a Twist3d of the current transform (pose delta).

If b is the output of a.Log(), then b.Exp() would yield a.

Returns

The twist that maps the current transform.

operator*()

Transform3d wpi::math::Transform3d::operator* ( double scalar ) const

inlineconstexpr

Multiplies the transform by the scalar.

Parameters

scalar

The scalar.

Returns

The scaled Transform3d.

operator+()

Transform3d wpi::math::Transform3d::operator+ ( const Transform3d & other ) const

constexpr

Composes two transformations.

The second transform is applied relative to the orientation of the first.

Parameters

other

The transform to compose with this one.

Returns

The composition of the two transformations.

operator/()

Transform3d wpi::math::Transform3d::operator/ ( double scalar ) const

inlineconstexpr

Divides the transform by the scalar.

Parameters

scalar

The scalar.

Returns

The scaled Transform3d.

operator==()

bool wpi::math::Transform3d::operator== ( const Transform3d & ) const

constexprdefault

Checks equality between this Transform3d and another object.

Rotation()

const Rotation3d & wpi::math::Transform3d::Rotation ( ) const

inlineconstexpr

Returns the rotational component of the transformation.

Returns

Reference to the rotational component of the transform.

ToMatrix()

Eigen::Matrix4d wpi::math::Transform3d::ToMatrix ( ) const

inlineconstexpr

Returns an affine transformation matrix representation of this transformation.

Translation()

const Translation3d & wpi::math::Transform3d::Translation ( ) const

inlineconstexpr

Returns the translation component of the transformation.

Returns

Reference to the translational component of the transform.

X()

wpi::units::meter_t wpi::math::Transform3d::X ( ) const

inlineconstexpr

Returns the X component of the transformation's translation.

Returns

The x component of the transformation's translation.

Y()

wpi::units::meter_t wpi::math::Transform3d::Y ( ) const

inlineconstexpr

Returns the Y component of the transformation's translation.

Returns

The y component of the transformation's translation.

Z()

wpi::units::meter_t wpi::math::Transform3d::Z ( ) const

inlineconstexpr

Returns the Z component of the transformation's translation.

Returns

The z component of the transformation's translation.

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

• wpi/math/geometry/Transform3d.hpp