georegression.struct.se

Class Se3_F32

java.lang.Object

georegression.struct.se.Se3_F32

All Implemented Interfaces:

InvertibleTransform<Se3_F32>, SpecialEuclidean<Se3_F32>, java.io.Serializable

public class Se3_F32
extends java.lang.Object
implements SpecialEuclidean<Se3_F32>

A coordinate system transform composed of a rotation and translation. This transform is a rigid body transform and is a member of the special euclidean group.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
org.ejml.data.DenseMatrix64F	R
static long	serialVersionUID
Vector3D_F32	T

Constructor Summary

Constructors

Constructor and Description
Se3_F32() Creates a new transform that does nothing.
Se3_F32(org.ejml.data.DenseMatrix64F R, Vector3D_F32 T) Initializes the transform with the provided rotation and translation.
Se3_F32(org.ejml.data.DenseMatrix64F R, Vector3D_F32 T, boolean assign) Initializes the Se3_F32 with the rotation matrix and translation vector.

Method Summary

Modifier and Type	Method and Description
Se3_F32	concat(Se3_F32 second, Se3_F32 result) Computes a transform which is the equivalent to applying 'this' then the 'second' transform.
Se3_F32	copy()
Se3_F32	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.
org.ejml.data.DenseMatrix64F	getR()
org.ejml.data.DenseMatrix64F	getRotation() Returns the rotation matrix
Vector3D_F32	getT()
Vector3D_F32	getTranslation() Returns the translation vector
float	getX()
float	getY()
float	getZ()
Se3_F32	invert(Se3_F32 inverse) Computes a transform which is the inverse of this transform.
void	print()
void	reset() Sets the transform to its initial state of no transform.
void	set(Se3_F32 se) Set's 'this' Se3_F32 to be identical to the provided transform.
void	setRotation(org.ejml.data.DenseMatrix64F R) Sets the rotation to R.
void	setTranslation(float x, float y, float z) Sets the translation to (x,y,z)
void	setTranslation(Vector3D_F32 T) Sets the translation to T
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

serialVersionUID

public static final long serialVersionUID

See Also:

Constant Field Values

R

public org.ejml.data.DenseMatrix64F R

T

public Vector3D_F32 T

Constructor Detail

Se3_F32

public Se3_F32()

Creates a new transform that does nothing.

Se3_F32

public Se3_F32(org.ejml.data.DenseMatrix64F R,
               Vector3D_F32 T)

Initializes the transform with the provided rotation and translation.

Parameters:

R - Rotation matrix.

T - Translation.

Se3_F32

public Se3_F32(org.ejml.data.DenseMatrix64F R,
               Vector3D_F32 T,
               boolean assign)

Initializes the Se3_F32 with the rotation matrix and translation vector. If assign is true the reference to the provided parameters is saved, otherwise a copy is made.

Parameters:

R - Rotation matrix.

T - Translation.

assign - If a reference is saved (true) or a copy made (false).

Method Detail

set

public void set(Se3_F32 se)

Set's 'this' Se3_F32 to be identical to the provided transform.

Specified by:

set in interface InvertibleTransform<Se3_F32>

Parameters:

se - The transform that is being copied.

setRotation

public void setRotation(org.ejml.data.DenseMatrix64F R)

Sets the rotation to R.

Parameters:

R - New rotation.

setTranslation

public void setTranslation(Vector3D_F32 T)

Sets the translation to T

Parameters:

T - New translation

setTranslation

public void setTranslation(float x,
                           float y,
                           float z)

Sets the translation to (x,y,z)

Parameters:

x - x component of translation

y - y component of translation

z - z component of translation

getRotation

public org.ejml.data.DenseMatrix64F getRotation()

Returns the rotation matrix

Returns:

rotation matrix

getTranslation

public Vector3D_F32 getTranslation()

Returns the translation vector

Returns:

translation vector

getR

public org.ejml.data.DenseMatrix64F getR()

getT

public Vector3D_F32 getT()

getX

public float getX()

getY

public float getY()

getZ

public float getZ()

getDimension

public int getDimension()

Description copied from interface: InvertibleTransform

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

Specified by:

getDimension in interface InvertibleTransform<Se3_F32>

Returns:

space's dimension

createInstance

public Se3_F32 createInstance()

Description copied from interface: InvertibleTransform

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

Specified by:

createInstance in interface InvertibleTransform<Se3_F32>

Returns:

A new instance.

concat

public Se3_F32 concat(Se3_F32 second,
                      Se3_F32 result)

Description copied from interface: InvertibleTransform

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.

Specified by:

concat in interface InvertibleTransform<Se3_F32>

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

public Se3_F32 invert(Se3_F32 inverse)

Description copied from interface: InvertibleTransform

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 );

Specified by:

invert in interface InvertibleTransform<Se3_F32>

Parameters:

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

Returns:

The inverse transform.

reset

public void reset()

Description copied from interface: InvertibleTransform

Sets the transform to its initial state of no transform.

Specified by:

reset in interface InvertibleTransform<Se3_F32>

copy

public Se3_F32 copy()

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

print

public void print()