georegression.struct

Interface InvertibleTransform<T extends InvertibleTransform>

All Superinterfaces:

java.io.Serializable

All Known Subinterfaces:

Affine<T>, Homography<T>, SpecialEuclidean<T>

All Known Implementing Classes:

Affine2D_F32, Affine2D_F64, Homography2D_F32, Homography2D_F64, Se2_F32, Se2_F64, Se3_F32, Se3_F64

public interface InvertibleTransform<T extends InvertibleTransform>
extends java.io.Serializable

Any transform which has an unique inverse. T(u) = v and u = T^-1(v).

Functions are provided to determining the dimensionality of the transform, inverting the transform, and concating two transforms.

Design Note: A function to apply the transform has not been provided to any data structures (e.g. GeoTuple). Instead that has been pushed off onto specialized static functions in other classes due to the large number of needed functions.

Method Summary

Modifier and Type	Method and Description
T	concat(T second, T result) Computes a transform which is the equivalent to applying 'this' then the 'second' transform.
T	createInstance() Creates a new instance of the same SpecialEuclidean as this class.
int	getDimension() Returns the dimension of the space which this transform operates on.
T	invert(T inverse) Computes a transform which is the inverse of this transform.
void	reset() Sets the transform to its initial state of no transform.
void	set(T target) Assigns 'this' to the value of target.

Method Detail

getDimension

int getDimension()

Returns the dimension of the space which this transform operates on.

Returns:

space's dimension

createInstance

T createInstance()

Creates a new instance of the same SpecialEuclidean as this class.

Returns:

A new instance.

set

void set(T target)

Assigns 'this' to the value of target.

Parameters:

target - The new value of 'this'.

concat

T concat(T second,
         T result)

Computes a transform which is the equivalent to applying 'this' then the 'second' transform.

For example:

Point A = tran2( tran1( A ) );
Point A = tran12( A );

where tran12 = tran1.concat( tran2 , null );

NOTE: 'second', 'result', and 'this' must all be unique instances.

Parameters:

second - The second transform which is applied. Not modified.

result - A transform which is equivalent to applying the first then the second. If null then a new instance is declared. Modified.

Returns:

The equivalent transform.

invert

T invert(T inverse)

Computes a transform which is the inverse of this transform. The 'this' matrix can be passed in as an input.

Example:
Point A = tran(B);
Point B = inv(A);

where inv = invert( tran );

Parameters:

inverse - Where the inverse will be stored. If null a new instance is created. Modified.

Returns:

The inverse transform.

reset

void reset()

Sets the transform to its initial state of no transform.