Package org.robwork.sdurw

Class Transform3f

java.lang.Object

org.robwork.sdurw.Transform3f

public class Transform3f
extends java.lang.Object

A 4x4 homogeneous transform matrix.

Constructor Summary

Constructors

Constructor	Description
Transform3f()	Default Constructor. Initializes with 0 translation and Identity matrix as rotation
Transform3f(long cPtr, boolean cMemoryOwn)
Transform3f(Transform3f t3d)
Transform3f(Vector3f d, Rotation3DVectorf r)	Constructs a homogeneous transform Calling this constructor is equivalent to the transform Transform3D(d, r.toRotation3D()).
Transform3f(Vector3f position, Rotation3f rotation)	Constructs a homogeneous transform

Method Summary

Modifier and Type	Method	Description
static Transform3f	craigDH(float alpha, float a, float d, float theta)	Constructs a homogeneous transform using the Craig (modified) Denavit-Hartenberg notation
void	delete()
static Transform3f	DH(float alpha, float a, float d, float theta)	Constructs a homogeneous transform using the original Denavit-Hartenberg notation
static long	getCPtr(Transform3f obj)
static Transform3f	identity()	Constructs the identity transform
static Transform3f	makeLookAt(Vector3f eye, Vector3f center, Vector3f 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.
Transform3f	multiply(Transform3f other)
Vector3f	multiply(Vector3f other)
Vector3f	P()	Gets the position part P from T
Rotation3f	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

Transform3f

public Transform3f(long cPtr,
                   boolean cMemoryOwn)

Transform3f

public Transform3f()

Default Constructor.

Initializes with 0 translation and Identity matrix as rotation

Transform3f

public Transform3f(Transform3f t3d)

Transform3f

public Transform3f(Vector3f position,
                   Rotation3f rotation)

Constructs a homogeneous transform

Transform3f

public Transform3f(Vector3f d,
                   Rotation3DVectorf 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(Transform3f obj)

delete

public void delete()

multiply

public Transform3f multiply(Transform3f other)

multiply

public Vector3f multiply(Vector3f other)

DH

public static Transform3f DH(float alpha,
                             float a,
                             float d,
                             float 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 Transform3f craigDH(float alpha,
                                  float a,
                                  float d,
                                  float 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 Transform3f identity()

Constructs the identity transform

Returns:

the identity transform.

makeLookAt

public static Transform3f makeLookAt(Vector3f eye,
                                     Vector3f center,
                                     Vector3f 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 Vector3f P()

Gets the position part P from T

Returns:

the translation.

R

public Rotation3f R()

Gets the rotation part R from T.

Returns:

the rotation.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object