Package org.robwork.sdurw
Class Transform2Dd
- java.lang.Object
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- org.robwork.sdurw.Transform2Dd
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public class Transform2Dd extends java.lang.Object
A 4x4 homogeneous transform matrix \mathbf{T}\in SE(3)
\mathbf{T} = \left[ \begin{array}{cc} \mathbf{R} \mathbf{d} \\ \begin{array}{ccc}0 0 0\end{array} 1 \end{array} \right]
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Constructor Summary
Constructors Constructor Description Transform2Dd()
Default Constructor.
Initializes with 0 translation and Identity matrix as rotationTransform2Dd(long cPtr, boolean cMemoryOwn)
Transform2Dd(Vector2Dd d, Rotation2Dd R)
Constructs a homogeneous transform
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
double
get(long row, long column)
static long
getCPtr(Transform2Dd obj)
static Transform2Dd
identity()
Constructs the identity transformTransform2Dd
multiply(Transform2Dd bTc)
Calculates \robabx{a}{c}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}} \robabx{b}{c}{\mathbf{T}}
Vector2Dd
multiply(Vector2Dd bP)
Calculates \robax{a}{\mathbf{p}} = \robabx{a}{b}{\mathbf{T}} \robax{b}{\mathbf{p}} thus transforming
point \mathbf{p} from frame b to frame a
Vector2Dd
P()
Gets the position part \mathbf{d} from \mathbf{T}Rotation2Dd
R()
Gets the rotation part \mathbf{R} from \mathbf{T}void
set(long row, long column, double d)
java.lang.String
toString()
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Constructor Detail
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Transform2Dd
public Transform2Dd(long cPtr, boolean cMemoryOwn)
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Transform2Dd
public Transform2Dd()
Default Constructor.
Initializes with 0 translation and Identity matrix as rotation
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Transform2Dd
public Transform2Dd(Vector2Dd d, Rotation2Dd R)
Constructs a homogeneous transform- Parameters:
d
- [in] \mathbf{d} A 3x1 translation vectorR
- [in] \mathbf{R} A 3x3 rotation matrix
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Method Detail
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getCPtr
public static long getCPtr(Transform2Dd obj)
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delete
public void delete()
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identity
public static Transform2Dd identity()
Constructs the identity transform- Returns:
- the identity transform
\mathbf{T} = \left[ \begin{array}{ccc} 1 0 0 \\ 0 1 0 \\ 0 0 1 \\ \end{array} \right]
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multiply
public Transform2Dd multiply(Transform2Dd bTc)
Calculates \robabx{a}{c}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}} \robabx{b}{c}{\mathbf{T}}
- Parameters:
bTc
- [in] \robabx{b}{c}{\mathbf{T}}- Returns:
- \robabx{a}{c}{\mathbf{T}}
\robabx{a}{c}{\mathbf{T}} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}}\robabx{b}{c}{\mathbf{R}} \robabx{a}{b}{\mathbf{d}} + \robabx{a}{b}{\mathbf{R}}\robabx{b}{c}{\mathbf{d}} \\ \begin{array}{ccc} 0 0 0 \end{array} 1 \end{array} \right]
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multiply
public Vector2Dd multiply(Vector2Dd bP)
Calculates \robax{a}{\mathbf{p}} = \robabx{a}{b}{\mathbf{T}} \robax{b}{\mathbf{p}} thus transforming
point \mathbf{p} from frame b to frame a
- Parameters:
bP
- [in] \robax{b}{\mathbf{p}}- Returns:
- \robax{a}{\mathbf{p}}
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R
public Rotation2Dd R()
Gets the rotation part \mathbf{R} from \mathbf{T}- Returns:
- \mathbf{R}
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P
public Vector2Dd P()
Gets the position part \mathbf{d} from \mathbf{T}- Returns:
- \mathbf{d}
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toString
public java.lang.String toString()
- Overrides:
toString
in classjava.lang.Object
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get
public double get(long row, long column)
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set
public void set(long row, long column, double d)
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