QVEuclideanMapping3 Class Reference
[Math functionality]

Class modeling rotation-translation transformations for 3D points. More...

#include <QVEuclideanMapping3>

List of all members.

Public Member Functions
	QVEuclideanMapping3 ()
	Default constructor.
	QVEuclideanMapping3 (const QVEuclideanMapping3 &other)
	Copy constructor.
	QVEuclideanMapping3 (const QVQuaternion &q, const QV3DPointF &t)
	Initialization from a quaternion rotation, and a translation vector.
	QVEuclideanMapping3 (const double quatx, const double quaty, const double quatz, const double quatw, const double tx, const double ty, const double tz)
	Initialization from the components of a quaternion rotation, and a translation vector.
	QVEuclideanMapping3 (const QVVector &v)
	Initialization from the components of a quaternion rotation, and a translation vector.
	QVEuclideanMapping3 (const QVMatrix &Rt)
	Initialization from a rotation-translation matrix.
QV3DPointF	apply (const QV3DPointF &X) const
	Applies the euclidean transformation for the point.
	operator QVVector () const
	Cast to a 7-size vector.
bool	operator== (const QVEuclideanMapping3 &other) const
	Equality compare operator.
bool	operator!= (const QVEuclideanMapping3 &other) const
	Inequality compare operator.
QVMatrix	toRotationTranslationMatrix () const
	Cast to a Rotation-translation matrix.
QVQuaternion	getRotation () const
	Returns the rotation quaternion of the mapping.
QV3DPointF	getTranslation () const
	Returns the translation of the mapping.
void	setRotation (const QVQuaternion &other)
	Sets the rotation quaternion of the mapping.
void	setTranslation (const QV3DPointF &other)
	Sets the translation of the mapping.
QVEuclideanMapping3	inverse () const
	Computes the inverse of the mapping.
QVEuclideanMapping3	compose (const QVEuclideanMapping3 &other) const
	Composes two euclidean mappings.
QVEuclideanMapping3	operator* (const QVEuclideanMapping3 &other) const
	Composes two euclidean mappings.
QVEuclideanMapping3	operator/ (const QVEuclideanMapping3 &other) const
	Divides an euclidean mapping by another one.

---

Detailed Description

Class modeling rotation-translation transformations for 3D points.

This class models elements from the E₃ group. These elements are combinations of translations and rotations in the 3D euclidean space.

Each element from this class contains a quaternion and a 3D point, respectively representing the rotation and the translation of the elements of the 3D space.

Definition at line 44 of file qveuclideanmapping3.h.

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Constructor & Destructor Documentation

QVEuclideanMapping3::QVEuclideanMapping3

(

)

[inline]

Default constructor.

Definition at line 52 of file qveuclideanmapping3.h.

Referenced by compose(), and inverse().

QVEuclideanMapping3::QVEuclideanMapping3

(

const QVEuclideanMapping3 &

other

)

[inline]

Copy constructor.

Definition at line 55 of file qveuclideanmapping3.h.

QVEuclideanMapping3::QVEuclideanMapping3	(	const QVQuaternion &	q,
		const QV3DPointF &	t
	)			[inline]

Initialization from a quaternion rotation, and a translation vector.

Parameters:

	q	Quaternion for the rotation
	t	3D point for the translation

Definition at line 60 of file qveuclideanmapping3.h.

QVEuclideanMapping3::QVEuclideanMapping3	(	const double	quatx,
		const double	quaty,
		const double	quatz,
		const double	quatw,
		const double	tx,
		const double	ty,
		const double	tz
	)			[inline]

Initialization from the components of a quaternion rotation, and a translation vector.

Parameters:

	quatx	Coefficient for the i coordinate of the quaternion
	quaty	Coefficient for the j coordinate of the quaternion
	quatz	Coefficient for the k coordinate of the quaternion
	quatw	Coefficient for the real coordinate of the quaternion
	tx	The x coordinate of the translation
	ty	The y coordinate of the translation
	tz	The z coordinate of the translation

Definition at line 71 of file qveuclideanmapping3.h.

QVEuclideanMapping3::QVEuclideanMapping3

(

const QVVector &

v

)

[inline]

Initialization from the components of a quaternion rotation, and a translation vector.

Parameters:

v

Vector of size 7 containing the coefficients for the i, j, k, and the real components of the quaternion, and the x, y, z components of the translation, in that order.

Definition at line 81 of file qveuclideanmapping3.h.

QVEuclideanMapping3::QVEuclideanMapping3

(

const QVMatrix &

Rt

)

Initialization from a rotation-translation matrix.

Parameters:

Rt

The rotation/translation matrix. It is equal to , where is the rotation matrix, and is the translation vector.

Definition at line 28 of file qveuclideanmapping3.cpp.

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Member Function Documentation

QV3DPointF QVEuclideanMapping3::apply

(

const QV3DPointF &

X

)

const [inline]

Applies the euclidean transformation for the point.

Parameters:

X

Point to apply the euclidean rotation-translation transformation

Definition at line 93 of file qveuclideanmapping3.h.

QVEuclideanMapping3::operator QVVector

(

)

const [inline]

Cast to a 7-size vector.

Returns:

Vector of size 7 containing the coefficients for the i, j, k, and the real components of the quaternion, and the x, y, z components of the translation, in that order.

Definition at line 103 of file qveuclideanmapping3.h.

bool QVEuclideanMapping3::operator==

(

const QVEuclideanMapping3 &

other

)

const [inline]

Equality compare operator.

Definition at line 121 of file qveuclideanmapping3.h.

bool QVEuclideanMapping3::operator!=

(

const QVEuclideanMapping3 &

other

)

const [inline]

Inequality compare operator.

Definition at line 128 of file qveuclideanmapping3.h.

QVMatrix QVEuclideanMapping3::toRotationTranslationMatrix

(

)

const [inline]

Cast to a Rotation-translation matrix.

Returns:

A rotation translation matrix , where is the rotation matrix, and is the translation vector.

Definition at line 137 of file qveuclideanmapping3.h.

QVQuaternion QVEuclideanMapping3::getRotation

(

)

const [inline]

Returns the rotation quaternion of the mapping.

Definition at line 153 of file qveuclideanmapping3.h.

QV3DPointF QVEuclideanMapping3::getTranslation

(

)

const [inline]

Returns the translation of the mapping.

Definition at line 156 of file qveuclideanmapping3.h.

void QVEuclideanMapping3::setRotation

(

const QVQuaternion &

other

)

[inline]

Sets the rotation quaternion of the mapping.

Definition at line 159 of file qveuclideanmapping3.h.

void QVEuclideanMapping3::setTranslation

(

const QV3DPointF &

other

)

[inline]

Sets the translation of the mapping.

Definition at line 162 of file qveuclideanmapping3.h.

QVEuclideanMapping3 QVEuclideanMapping3::inverse

(

)

const [inline]

Computes the inverse of the mapping.

Definition at line 166 of file qveuclideanmapping3.h.

Referenced by operator/().

QVEuclideanMapping3 QVEuclideanMapping3::compose

(

const QVEuclideanMapping3 &

other

)

const [inline]

Composes two euclidean mappings.

Definition at line 174 of file qveuclideanmapping3.h.

Referenced by operator*(), and operator/().

QVEuclideanMapping3 QVEuclideanMapping3::operator*

(

const QVEuclideanMapping3 &

other

)

const [inline]

Composes two euclidean mappings.

Definition at line 181 of file qveuclideanmapping3.h.

QVEuclideanMapping3 QVEuclideanMapping3::operator/

(

const QVEuclideanMapping3 &

other

)

const [inline]

Divides an euclidean mapping by another one.

This operator is equivalent to the following code:

 this->compose(other.inverse())

Definition at line 191 of file qveuclideanmapping3.h.

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

• src/qvmath/qveuclideanmapping3.h
• src/qvmath/qveuclideanmapping3.cpp