Transform3D Class Reference

Vector transformations in three dimensions. More...

Public Types
enum	ERotationType { EULER , XAXIS , YAXIS , ZAXIS }

Public Member Functions
	Transform3D ()
	Constructs unit transformation.
	~Transform3D ()
	Destructor.
void	calculateEulerAngles (double *p_alpha, double *p_beta, double *p_gamma) const
	Calculates the Euler angles corresponding to the rotation.
double	calculateRotateXAngle () const
	Calculates the rotation angle for a rotation around the x-axis alone Only meaningfull if the actual rotation is around the x-axis.
double	calculateRotateYAngle () const
	Calculates the rotation angle for a rotation around the y-axis alone Only meaningfull if the actual rotation is around the y-axis.
double	calculateRotateZAngle () const
	Calculates the rotation angle for a rotation around the z-axis alone Only meaningfull if the actual rotation is around the z-axis.
Transform3D *	clone () const
	Clones the transformation.
Transform3D	getInverse () const
	Returns the inverse transformation.
ERotationType	getRotationType () const
	Retrieve the rotation type (general, around x, y or z-axis)
bool	isIdentity () const
	Determine if the transformation is trivial (identity)
bool	isXRotation () const
bool	isYRotation () const
bool	isZRotation () const
Transform3D	operator* (const Transform3D &other) const
	Composes two transformations.
bool	operator== (const Transform3D &other) const
	Provides equality operator.
void	print (std::ostream &ostr) const
template<class ivector_t >
ivector_t	transformed (const ivector_t &v) const
	Return transformed vector v.
template<class ivector_t >
ivector_t	transformedInverse (const ivector_t &v) const
	Return transformed vector v.

Static Public Member Functions
static Transform3D	createRotateEuler (double alpha, double beta, double gamma)
	Creates rotation defined by Euler angles.
static Transform3D	createRotateX (double phi)
	Creates rotation around x-axis.
static Transform3D	createRotateY (double phi)
	Creates rotation around y-axis.
static Transform3D	createRotateZ (double phi)
	Creates rotation around z-axis.

Friends
std::ostream &	operator<< (std::ostream &ostr, const Transform3D &m)

Detailed Description

Vector transformations in three dimensions.