numeric::BodyPosition< T > Class Template Reference

Rigid body 3-D position/transform. More...

#include <BodyPosition.hh>

Public Types
typedef T	Value
typedef T &	Reference
typedef T const &	ConstReference
typedef T *	Pointer
typedef T const *	ConstPointer
typedef T	value_type
typedef T &	reference
typedef T const &	const_reference
typedef T *	pointer
typedef T const *	const_pointer
typedef NumericTraits< T >	Traits
typedef xyzVector< T >	Axis
typedef xyzVector< T >	Point
typedef xyzVector< T >	Vector
typedef xyzVector< T >	Translation
typedef xyzMatrix< T >	Rotation
typedef numeric::Quaternion< T >	Quaternion

Public Member Functions
	BodyPosition ()
	Default constructor. More...
	BodyPosition (Rotation const &R_a, Translation const &t_a)
	Rotation + Translation constructor. More...
	BodyPosition (Rotation const &R_a)
	Rotation constructor. More...
	BodyPosition (Quaternion const &q_a, Translation const &t_a)
	Quaternion + Translation constructor. More...
	BodyPosition (Quaternion const &q_a)
	Quaternion constructor. More...
	BodyPosition (Point const &, Vector const &x1, Vector const &u1, Point const &, Vector const &x2, Vector const &u2, Value const &cos, Value const &sin, Value const &csc)
	Point + Vector constructor. More...
	BodyPosition (BodyPosition const &bp)
	Copy constructor. More...
	~BodyPosition ()
	Destructor. More...
BodyPosition &	operator= (BodyPosition const &bp)
	Copy assignment. More...
Rotation const &	R () const
	Rotation. More...
Quaternion const &	q () const
	Quaternion. More...
Translation const &	t () const
	Translation. More...
Value	angle () const
	Principal angle of rotation (on [0,2*pi]) More...
Axis	axis () const
	Axis of Rotation unit vector (direction for angle on [0,2*pi]) More...
Axis &	axis (Axis &u) const
	Axis of rotation unit vector: Passed vector (direction for angle on [0,2*pi]) More...
BodyPosition const &	operator() (Point &p) const
	Transform a Point. More...
BodyPosition const &	transform (Point &p) const
	Transform a Point. More...
BodyPosition const &	inverse_transform (Point &p) const
	Inverse transform a Point. More...
BodyPosition &	normalize ()
	Normalize. More...
BodyPosition &	normalize_if_needed (Value const &tol=Traits::quaternion_tolerance())
	Normalize if magnitude squared error exceeds tolerance. More...
BodyPosition &	to_identity ()
	Identity. More...
BodyPosition &	invert ()
	Invert. More...
BodyPosition &	apply (BodyPosition const &p, bool const precise=true)
	Apply a successive BodyPosition transformation. More...
BodyPosition &	left_transform_by (BodyPosition const &p, bool const precise=true)
	Left transform by a BodyPosition. More...
BodyPosition &	right_transform_by (BodyPosition const &p, bool const precise=true)
	Right transform by a BodyPosition. More...
BodyPosition &	left_transform_by_inverse_of (BodyPosition const &p, bool const precise=true)
	Left transform by the inverse of a BodyPosition. More...
BodyPosition &	right_transform_by_inverse_of (BodyPosition const &p, bool const precise=true)
	Right transform by the inverse of a BodyPosition. More...
BodyPosition	inverse () const
	Inverse. More...
Point	transformed (Point const &p) const
	Transformed Point. More...
Point	inverse_transformed (Point const &p) const
	Inverse transformed Point. More...
Translation	inverse_translation () const
	Inverse translation. More...

Static Public Member Functions
static BodyPosition	identity ()
	Identity named constructor. More...
static BodyPosition const &	I ()
	Identity BodyPosition for expressions. More...

Private Member Functions
BodyPosition const &	R_refresh (bool const precise=true) const
	Refresh rotation matrix from Quaternion. More...
BodyPosition const &	q_refresh (bool const precise=true) const
	Refresh Quaternion from rotation matrix. More...

Private Attributes
Rotation	R_
	Rotation matrix. More...
bool	R_fresh_
	Rotation matrix status. More...
Quaternion	q_
	Quaternion. More...
bool	q_fresh_
	Quaternion status. More...
Translation	t_
	Translation. More...

Friends
bool	operator== (BodyPosition const &p1, BodyPosition const &p2)
	BodyPosition == BodyPosition. More...
bool	operator!= (BodyPosition const &p1, BodyPosition const &p2)
	BodyPosition != BodyPosition. More...

Detailed Description

template<typename T>
class numeric::BodyPosition< T >

Rigid body 3-D position/transform.

Remarks

• Dual personality: rotation matrix and quaternion representations
• Rotation matrix is faster for transforming points
• Quaternion is faster for successive frame transforms and easier to keep normalized
• For quaternion q = ( w, x, y, z ) the equivalent rotation matrix is: 1-2( y^2 + z^2 ) 2( x y - w z ) 2( x z + w y ) 2( x y + w z ) 1-2( x^2 + z^2 ) 2( y z - w x ) 2( x z - w y ) 2( y z + w x ) 1-2( x^2 + y^2 )
• Quaternions q and -q have the same rotation matrix
• If an odd multiple of 2*pi is added to an angle the quaternion q is changed to -q
• Invariant: The rotation matrix or quaternion or both must be "fresh" before and after every member function call

Member Typedef Documentation

Axis

template<typename T >

typedef xyzVector< T > numeric::BodyPosition< T >::Axis

const_pointer

template<typename T >

typedef T const* numeric::BodyPosition< T >::const_pointer

const_reference

template<typename T >

typedef T const& numeric::BodyPosition< T >::const_reference

ConstPointer

template<typename T >

typedef T const* numeric::BodyPosition< T >::ConstPointer

ConstReference

template<typename T >

typedef T const& numeric::BodyPosition< T >::ConstReference

Point

template<typename T >

typedef xyzVector< T > numeric::BodyPosition< T >::Point

Pointer

template<typename T >

typedef T* numeric::BodyPosition< T >::Pointer

pointer

template<typename T >

typedef T* numeric::BodyPosition< T >::pointer

Quaternion

template<typename T >

typedef numeric::Quaternion< T > numeric::BodyPosition< T >::Quaternion

Reference

template<typename T >

typedef T& numeric::BodyPosition< T >::Reference

reference

template<typename T >

typedef T& numeric::BodyPosition< T >::reference

Rotation

template<typename T >

typedef xyzMatrix< T > numeric::BodyPosition< T >::Rotation

Traits

template<typename T >

typedef NumericTraits< T > numeric::BodyPosition< T >::Traits

Translation

template<typename T >

typedef xyzVector< T > numeric::BodyPosition< T >::Translation

Value

template<typename T >

typedef T numeric::BodyPosition< T >::Value

value_type

template<typename T >

typedef T numeric::BodyPosition< T >::value_type

Vector

template<typename T >

typedef xyzVector< T > numeric::BodyPosition< T >::Vector

Constructor & Destructor Documentation

BodyPosition() [1/7]

template<typename T >

numeric::BodyPosition< T >::BodyPosition ( )

inline

Default constructor.

Referenced by numeric::BodyPosition< T >::identity(), and numeric::BodyPosition< T >::inverse().

BodyPosition() [2/7]

template<typename T >

numeric::BodyPosition< T >::BodyPosition ( Rotation const &  R_a, Translation const &  t_a  )

inline

Rotation + Translation constructor.

BodyPosition() [3/7]

template<typename T >

numeric::BodyPosition< T >::BodyPosition ( Rotation const &  R_a )

inline

Rotation constructor.

BodyPosition() [4/7]

template<typename T >

numeric::BodyPosition< T >::BodyPosition ( Quaternion const &  q_a, Translation const &  t_a  )

inline

Quaternion + Translation constructor.

BodyPosition() [5/7]

template<typename T >

numeric::BodyPosition< T >::BodyPosition ( Quaternion const &  q_a )

inline

Quaternion constructor.

BodyPosition() [6/7]

template<typename T >

numeric::BodyPosition< T >::BodyPosition ( Point const &  , Vector const &  x1, Vector const &  u1, Point const &  , Vector const &  x2, Vector const &  u2, Value const &  cos, Value const &  sin, Value const &  csc  )

inline

Point + Vector constructor.

Note

Constructs the transform that takes a point p and unit vectors x and u bound to p and separated by an angle on (0,pi) from position 1 to 2

References numeric::csc(), pyrosetta.distributed.cluster.exceptions::T, and y1.

BodyPosition() [7/7]

template<typename T >

numeric::BodyPosition< T >::BodyPosition ( BodyPosition< T > const &  bp )

inline

Copy constructor.

~BodyPosition()

template<typename T >

numeric::BodyPosition< T >::~BodyPosition ( )

inline

Destructor.

Member Function Documentation

angle()

template<typename T >

Value numeric::BodyPosition< T >::angle ( ) const

inline

Principal angle of rotation (on [0,2*pi])

References numeric::Quaternion< T >::angle(), numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, and numeric::BodyPosition< T >::q_refresh().

apply()

template<typename T >

BodyPosition& numeric::BodyPosition< T >::apply ( BodyPosition< T > const &  p, bool const  precise = true  )

inline

Apply a successive BodyPosition transformation.

References numeric::BodyPosition< T >::left_transform_by(), and kmeans_adaptive_kernel_density_bb_dependent_rotlib::p.

Referenced by pyrosetta.bindings.scores.simple_metrics.SimpleMetricDataAccessorBase::__setitem__(), pyrosetta.bindings.scores.base.PoseCacheAccessorBase::_maybe_delete_keys_from_sm_data(), and pyrosetta.distributed.tasks.rosetta_scripts.BaseRosettaScriptsTask::execute().

axis() [1/2]

template<typename T >

Axis numeric::BodyPosition< T >::axis ( ) const

inline

Axis of Rotation unit vector (direction for angle on [0,2*pi])

References numeric::Quaternion< T >::axis(), numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, and numeric::BodyPosition< T >::q_refresh().

axis() [2/2]

template<typename T >

Axis& numeric::BodyPosition< T >::axis ( Axis &  u ) const

inline

Axis of rotation unit vector: Passed vector (direction for angle on [0,2*pi])

References numeric::Quaternion< T >::axis(), numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, numeric::BodyPosition< T >::q_refresh(), and kmeans_adaptive_kernel_density_bb_dependent_rotlib::u.

I()

template<typename T >

static BodyPosition const& numeric::BodyPosition< T >::I ( )

inlinestatic

Identity BodyPosition for expressions.

Note

Default and identity() named constructors can be faster for construction

Can be safely used in construction of global objects

identity()

template<typename T >

static BodyPosition numeric::BodyPosition< T >::identity ( )

inlinestatic

Identity named constructor.

References numeric::BodyPosition< T >::BodyPosition().

inverse()

template<typename T >

BodyPosition numeric::BodyPosition< T >::inverse ( ) const

inline

Inverse.

References numeric::BodyPosition< T >::BodyPosition().

inverse_transform()

template<typename T >

BodyPosition const& numeric::BodyPosition< T >::inverse_transform ( Point &  p ) const

inline

Inverse transform a Point.

References numeric::inplace_transpose_product(), kmeans_adaptive_kernel_density_bb_dependent_rotlib::p, numeric::BodyPosition< T >::R_, numeric::BodyPosition< T >::R_fresh_, numeric::BodyPosition< T >::R_refresh(), and numeric::BodyPosition< T >::t_.

inverse_transformed()

template<typename T >

Point numeric::BodyPosition< T >::inverse_transformed ( Point const &  p ) const

inline

Inverse transformed Point.

References kmeans_adaptive_kernel_density_bb_dependent_rotlib::p, numeric::BodyPosition< T >::R_, numeric::BodyPosition< T >::R_fresh_, numeric::BodyPosition< T >::R_refresh(), numeric::BodyPosition< T >::t_, and numeric::transpose_product().

inverse_translation()

template<typename T >

Translation numeric::BodyPosition< T >::inverse_translation ( ) const

inline

Inverse translation.

References numeric::BodyPosition< T >::R_, numeric::BodyPosition< T >::R_fresh_, numeric::BodyPosition< T >::R_refresh(), numeric::BodyPosition< T >::t_, and numeric::transpose_product().

invert()

template<typename T >

BodyPosition& numeric::BodyPosition< T >::invert ( )

inline

Invert.

References numeric::inplace_product(), numeric::Quaternion< T >::invert(), numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, numeric::BodyPosition< T >::R_, numeric::BodyPosition< T >::R_fresh_, numeric::BodyPosition< T >::R_refresh(), pyrosetta.distributed.cluster.exceptions::T, and numeric::BodyPosition< T >::t_.

left_transform_by()

template<typename T >

BodyPosition& numeric::BodyPosition< T >::left_transform_by ( BodyPosition< T > const &  p, bool const  precise = true  )

inline

Left transform by a BodyPosition.

References numeric::Quaternion< T >::left_multiply_by(), kmeans_adaptive_kernel_density_bb_dependent_rotlib::p, numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R_fresh_, and numeric::BodyPosition< T >::t_.

Referenced by numeric::BodyPosition< T >::apply().

left_transform_by_inverse_of()

template<typename T >

BodyPosition& numeric::BodyPosition< T >::left_transform_by_inverse_of ( BodyPosition< T > const &  p, bool const  precise = true  )

inline

Left transform by the inverse of a BodyPosition.

References numeric::Quaternion< T >::left_multiply_by_inverse_of(), kmeans_adaptive_kernel_density_bb_dependent_rotlib::p, numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R_fresh_, and numeric::BodyPosition< T >::t_.

normalize()

template<typename T >

BodyPosition& numeric::BodyPosition< T >::normalize ( )

inline

Normalize.

References numeric::Quaternion< T >::normalize(), numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, numeric::BodyPosition< T >::q_refresh(), and numeric::BodyPosition< T >::R_fresh_.

normalize_if_needed()

template<typename T >

BodyPosition& numeric::BodyPosition< T >::normalize_if_needed ( Value const &  tol = Traits::quaternion_tolerance() )

inline

Normalize if magnitude squared error exceeds tolerance.

References numeric::Quaternion< T >::normalize_if_needed(), numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R_fresh_, and loops_kic::tol.

operator()()

template<typename T >

BodyPosition const& numeric::BodyPosition< T >::operator() ( Point &  p ) const

inline

Transform a Point.

References numeric::inplace_product(), kmeans_adaptive_kernel_density_bb_dependent_rotlib::p, numeric::BodyPosition< T >::R_, numeric::BodyPosition< T >::R_fresh_, numeric::BodyPosition< T >::R_refresh(), and numeric::BodyPosition< T >::t_.

operator=()

template<typename T >

BodyPosition& numeric::BodyPosition< T >::operator= ( BodyPosition< T > const &  bp )

inline

Copy assignment.

References numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, numeric::BodyPosition< T >::R_, numeric::BodyPosition< T >::R_fresh_, and numeric::BodyPosition< T >::t_.

q()

template<typename T >

Quaternion const& numeric::BodyPosition< T >::q ( ) const

inline

Quaternion.

References numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, and numeric::BodyPosition< T >::q_refresh().

q_refresh()

template<typename T >

BodyPosition const& numeric::BodyPosition< T >::q_refresh ( bool const  precise = true ) const

inlineprivate

Refresh Quaternion from rotation matrix.

References numeric::Quaternion< T >::normalize(), numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, numeric::BodyPosition< T >::R_, numeric::BodyPosition< T >::R_fresh_, numeric::BodyPosition< T >::R_refresh(), docking::s, pyrosetta.distributed.cluster.exceptions::T, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::BodyPosition< T >::angle(), numeric::BodyPosition< T >::axis(), numeric::BodyPosition< T >::left_transform_by(), numeric::BodyPosition< T >::left_transform_by_inverse_of(), numeric::BodyPosition< T >::normalize(), numeric::BodyPosition< T >::normalize_if_needed(), numeric::BodyPosition< T >::q(), numeric::BodyPosition< T >::right_transform_by(), and numeric::BodyPosition< T >::right_transform_by_inverse_of().

R()

template<typename T >

Rotation const& numeric::BodyPosition< T >::R ( ) const

inline

Rotation.

References numeric::BodyPosition< T >::R_, numeric::BodyPosition< T >::R_fresh_, and numeric::BodyPosition< T >::R_refresh().

R_refresh()

template<typename T >

BodyPosition const& numeric::BodyPosition< T >::R_refresh ( bool const  precise = true ) const

inlineprivate

Refresh rotation matrix from Quaternion.

References numeric::Quaternion< T >::normalize(), numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, numeric::BodyPosition< T >::R_, numeric::BodyPosition< T >::R_fresh_, pyrosetta.distributed.cluster.exceptions::T, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::BodyPosition< T >::inverse_transform(), numeric::BodyPosition< T >::inverse_transformed(), numeric::BodyPosition< T >::inverse_translation(), numeric::BodyPosition< T >::invert(), numeric::BodyPosition< T >::operator()(), numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R(), numeric::BodyPosition< T >::transform(), and numeric::BodyPosition< T >::transformed().

right_transform_by()

template<typename T >

BodyPosition& numeric::BodyPosition< T >::right_transform_by ( BodyPosition< T > const &  p, bool const  precise = true  )

inline

Right transform by a BodyPosition.

References kmeans_adaptive_kernel_density_bb_dependent_rotlib::p, numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R_fresh_, numeric::Quaternion< T >::right_multiply_by(), numeric::BodyPosition< T >::t_, and numeric::BodyPosition< T >::transformed().

right_transform_by_inverse_of()

template<typename T >

BodyPosition& numeric::BodyPosition< T >::right_transform_by_inverse_of ( BodyPosition< T > const &  p, bool const  precise = true  )

inline

Right transform by the inverse of a BodyPosition.

References kmeans_adaptive_kernel_density_bb_dependent_rotlib::p, numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R_fresh_, numeric::Quaternion< T >::right_multiply_by_inverse_of(), numeric::BodyPosition< T >::t_, and numeric::BodyPosition< T >::transform().

t()

template<typename T >

Translation const& numeric::BodyPosition< T >::t ( ) const

inline

Translation.

References numeric::BodyPosition< T >::t_.

to_identity()

template<typename T >

BodyPosition& numeric::BodyPosition< T >::to_identity ( )

inline

Identity.

References numeric::BodyPosition< T >::q_, numeric::BodyPosition< T >::q_fresh_, numeric::BodyPosition< T >::R_, numeric::BodyPosition< T >::R_fresh_, pyrosetta.distributed.cluster.exceptions::T, numeric::BodyPosition< T >::t_, and numeric::Quaternion< T >::to_identity().

transform()

template<typename T >

BodyPosition const& numeric::BodyPosition< T >::transform ( Point &  p ) const

inline

Transform a Point.

References numeric::inplace_product(), kmeans_adaptive_kernel_density_bb_dependent_rotlib::p, numeric::BodyPosition< T >::R_, numeric::BodyPosition< T >::R_fresh_, numeric::BodyPosition< T >::R_refresh(), and numeric::BodyPosition< T >::t_.

Referenced by numeric::BodyPosition< T >::right_transform_by_inverse_of().

transformed()

template<typename T >

Point numeric::BodyPosition< T >::transformed ( Point const &  p ) const

inline

Transformed Point.

References kmeans_adaptive_kernel_density_bb_dependent_rotlib::p, numeric::product(), numeric::BodyPosition< T >::R_, numeric::BodyPosition< T >::R_fresh_, numeric::BodyPosition< T >::R_refresh(), and numeric::BodyPosition< T >::t_.

Referenced by numeric::BodyPosition< T >::right_transform_by().

Friends And Related Function Documentation

operator!=

template<typename T >

bool operator!= ( BodyPosition< T > const &  p1, BodyPosition< T > const &  p2  )

friend

BodyPosition != BodyPosition.

operator==

template<typename T >

bool operator== ( BodyPosition< T > const &  p1, BodyPosition< T > const &  p2  )

friend

BodyPosition == BodyPosition.

Member Data Documentation

q_

template<typename T >

Quaternion numeric::BodyPosition< T >::q_

mutableprivate

Quaternion.

Referenced by numeric::BodyPosition< T >::angle(), numeric::BodyPosition< T >::axis(), numeric::BodyPosition< T >::invert(), numeric::BodyPosition< T >::left_transform_by(), numeric::BodyPosition< T >::left_transform_by_inverse_of(), numeric::BodyPosition< T >::normalize(), numeric::BodyPosition< T >::normalize_if_needed(), numeric::BodyPosition< T >::operator=(), numeric::BodyPosition< T >::q(), numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R_refresh(), numeric::BodyPosition< T >::right_transform_by(), numeric::BodyPosition< T >::right_transform_by_inverse_of(), and numeric::BodyPosition< T >::to_identity().

q_fresh_

template<typename T >

bool numeric::BodyPosition< T >::q_fresh_

mutableprivate

Quaternion status.

Referenced by numeric::BodyPosition< T >::angle(), numeric::BodyPosition< T >::axis(), numeric::BodyPosition< T >::invert(), numeric::BodyPosition< T >::left_transform_by(), numeric::BodyPosition< T >::left_transform_by_inverse_of(), numeric::BodyPosition< T >::normalize(), numeric::BodyPosition< T >::normalize_if_needed(), numeric::BodyPosition< T >::operator=(), numeric::BodyPosition< T >::q(), numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R_refresh(), numeric::BodyPosition< T >::right_transform_by(), numeric::BodyPosition< T >::right_transform_by_inverse_of(), and numeric::BodyPosition< T >::to_identity().

R_

template<typename T >

Rotation numeric::BodyPosition< T >::R_

mutableprivate

Rotation matrix.

Referenced by numeric::BodyPosition< T >::inverse_transform(), numeric::BodyPosition< T >::inverse_transformed(), numeric::BodyPosition< T >::inverse_translation(), numeric::BodyPosition< T >::invert(), numeric::BodyPosition< T >::operator()(), numeric::BodyPosition< T >::operator=(), numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R(), numeric::BodyPosition< T >::R_refresh(), numeric::BodyPosition< T >::to_identity(), numeric::BodyPosition< T >::transform(), and numeric::BodyPosition< T >::transformed().

R_fresh_

template<typename T >

bool numeric::BodyPosition< T >::R_fresh_

mutableprivate

Rotation matrix status.

Referenced by numeric::BodyPosition< T >::inverse_transform(), numeric::BodyPosition< T >::inverse_transformed(), numeric::BodyPosition< T >::inverse_translation(), numeric::BodyPosition< T >::invert(), numeric::BodyPosition< T >::left_transform_by(), numeric::BodyPosition< T >::left_transform_by_inverse_of(), numeric::BodyPosition< T >::normalize(), numeric::BodyPosition< T >::normalize_if_needed(), numeric::BodyPosition< T >::operator()(), numeric::BodyPosition< T >::operator=(), numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R(), numeric::BodyPosition< T >::R_refresh(), numeric::BodyPosition< T >::right_transform_by(), numeric::BodyPosition< T >::right_transform_by_inverse_of(), numeric::BodyPosition< T >::to_identity(), numeric::BodyPosition< T >::transform(), and numeric::BodyPosition< T >::transformed().

t_

template<typename T >

Translation numeric::BodyPosition< T >::t_

private

Translation.

Referenced by numeric::BodyPosition< T >::inverse_transform(), numeric::BodyPosition< T >::inverse_transformed(), numeric::BodyPosition< T >::inverse_translation(), numeric::BodyPosition< T >::invert(), numeric::BodyPosition< T >::left_transform_by(), numeric::BodyPosition< T >::left_transform_by_inverse_of(), numeric::BodyPosition< T >::operator()(), numeric::BodyPosition< T >::operator=(), numeric::BodyPosition< T >::right_transform_by(), numeric::BodyPosition< T >::right_transform_by_inverse_of(), numeric::BodyPosition< T >::t(), numeric::BodyPosition< T >::to_identity(), numeric::BodyPosition< T >::transform(), and numeric::BodyPosition< T >::transformed().

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

• src/numeric/BodyPosition.fwd.hh
• src/numeric/BodyPosition.hh