Package org.robwork.sdurw

Class Transform3d

java.lang.Object

org.robwork.sdurw.Transform3d

public class Transform3d
extends java.lang.Object

A 4x4 homogeneous transform matrix.

Constructor Summary

Constructors

Constructor	Description
Transform3d()	Default Constructor. Initializes with 0 translation and Identity matrix as rotation
Transform3d(long cPtr, boolean cMemoryOwn)
Transform3d(Transform3d t3d)
Transform3d(Vector3d position, Rotation3d rotation)	Constructs a homogeneous transform
Transform3d(Vector3d d, Rotation3DVectord r)	Constructs a homogeneous transform Calling this constructor is equivalent to the transform Transform3D(d, r.toRotation3D()).

Method Summary

Modifier and Type	Method	Description
static Transform3d	craigDH(double alpha, double a, double d, double theta)	Constructs a homogeneous transform using the Craig (modified) Denavit-Hartenberg notation
void	delete()
static Transform3d	DH(double alpha, double a, double d, double theta)	Constructs a homogeneous transform using the original Denavit-Hartenberg notation
static long	getCPtr(Transform3d obj)
static Transform3d	identity()	Constructs the identity transform
static Transform3d	makeLookAt(Vector3d eye, Vector3d center, Vector3d up)	creates a transformation that is positioned in eye and looking toward center along -z where up indicates the upward direction along which the y-axis is placed.
Transform3d	multiply(Transform3d other)
Vector3d	multiply(Vector3d other)
Vector3d	P()	Gets the position part P from T
Rotation3d	R()	Gets the rotation part R from T.
java.lang.String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Transform3d

public Transform3d(long cPtr,
                   boolean cMemoryOwn)

Transform3d

public Transform3d()

Default Constructor.

Initializes with 0 translation and Identity matrix as rotation

Transform3d

public Transform3d(Transform3d t3d)

Transform3d

public Transform3d(Vector3d position,
                   Rotation3d rotation)

Constructs a homogeneous transform

Transform3d

public Transform3d(Vector3d d,
                   Rotation3DVectord r)

Constructs a homogeneous transform

Calling this constructor is equivalent to the transform
Transform3D(d, r.toRotation3D()).

Parameters:

d - [in] A 3x1 translation vector

r - [in] A 3x1 rotation vector

Method Detail

getCPtr

public static long getCPtr(Transform3d obj)

delete

public void delete()

multiply

public Transform3d multiply(Transform3d other)

multiply

public Vector3d multiply(Vector3d other)

DH

public static Transform3d DH(double alpha,
                             double a,
                             double d,
                             double theta)

Constructs a homogeneous transform using the original
Denavit-Hartenberg notation

Parameters:

alpha - [in]

a - [in]

d - [in]

theta - [in]

Returns:

transformation matrix.

craigDH

public static Transform3d craigDH(double alpha,
                                  double a,
                                  double d,
                                  double theta)

Constructs a homogeneous transform using the Craig (modified)
Denavit-Hartenberg notation

Parameters:

alpha - [in]

a - [in]

d - [in]

theta - [in]

Returns:

the transformation matrix.

Note: The Craig (modified) Denavit-Hartenberg notation differs from
the original Denavit-Hartenberg notation.

identity

public static Transform3d identity()

Constructs the identity transform

Returns:

the identity transform.

makeLookAt

public static Transform3d makeLookAt(Vector3d eye,
                                     Vector3d center,
                                     Vector3d up)

creates a transformation that is positioned in eye and looking toward
center along -z where up indicates the upward direction along which the y-axis
is placed. Same convention as for gluLookAt
and is handy for placing a cameraview.

Parameters:

eye - [in] position of view

center - [in] point to look toward

up - [in] the upward direction (the

Returns:

Transformation

P

public Vector3d P()

Gets the position part P from T

Returns:

the translation.

R

public Rotation3d R()

Gets the rotation part R from T.

Returns:

the rotation.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object