georegression.struct.se

Class SpecialEuclideanOps_F64

java.lang.Object

georegression.struct.se.SpecialEuclideanOps_F64

public class SpecialEuclideanOps_F64
extends java.lang.Object

Various operations related to SpecialEuclidean transformations.

Constructor Summary

Constructors

Constructor and Description
SpecialEuclideanOps_F64()

Method Summary

Modifier and Type	Method and Description
static Se3_F64	setEulerXYZ(double rotX, double rotY, double rotZ, double dx, double dy, double dz, Se3_F64 se) Sets the value of an Se3_F64 using Euler XYZ coordinates for the rotation and a translation vector.
static void	setToNoMotion(Se3_F64 se) Sets the provided transform so that it does not transform any points.
static Affine2D_F64	toAffine(Se2_F64 se, Affine2D_F64 affine) Converts Se2_F64 into Affine2D_F64.
static org.ejml.data.DenseMatrix64F	toHomogeneous(Se2_F64 se, org.ejml.data.DenseMatrix64F ret) Converts it into a 3 by 3 homogeneous matrix.
static org.ejml.data.DenseMatrix64F	toHomogeneous(Se3_F64 se, org.ejml.data.DenseMatrix64F ret) Converts it into a 4 by 4 homogeneous matrix.
static Se2_F64	toSe2(org.ejml.data.DenseMatrix64F H, Se2_F64 ret) Converts a homogeneous representation into Se2_F64.
static Se3_F64	toSe3_F64(org.ejml.data.DenseMatrix64F H, Se3_F64 ret) Converts a homogeneous representation into Se3_F64.

Methods inherited from class java.lang.Object

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

Constructor Detail

SpecialEuclideanOps_F64

public SpecialEuclideanOps_F64()

Method Detail

setToNoMotion

public static void setToNoMotion(Se3_F64 se)

Sets the provided transform so that it does not transform any points.

Parameters:

se - The transform which is to be set to no motion.

toAffine

public static Affine2D_F64 toAffine(Se2_F64 se,
                                    Affine2D_F64 affine)

Converts Se2_F64 into Affine2D_F64.

Parameters:

se - (Input) Se2

affine - (Output) Equivalent affine. If null a new object will be declared.

Returns:

Equivalent affine.

toHomogeneous

public static org.ejml.data.DenseMatrix64F toHomogeneous(Se3_F64 se,
                                                         org.ejml.data.DenseMatrix64F ret)

Converts it into a 4 by 4 homogeneous matrix.

Parameters:

se - original 3D transform

ret - Where the results will be written to. If null a new matrix is declared. Modified.

Returns:

equivalent homogeneous transform.

toSe3_F64

public static Se3_F64 toSe3_F64(org.ejml.data.DenseMatrix64F H,
                                Se3_F64 ret)

Converts a homogeneous representation into Se3_F64.

Parameters:

H - Homogeneous 4 by 4 matrix.

ret - If not null where the results are written to.

Returns:

Se3_F64 transform.

toHomogeneous

public static org.ejml.data.DenseMatrix64F toHomogeneous(Se2_F64 se,
                                                         org.ejml.data.DenseMatrix64F ret)

Converts it into a 3 by 3 homogeneous matrix.

Parameters:

se - original 2D transform

ret - Where the results will be written to. If null a new matrix is declared. Modified.

Returns:

equivalent homogeneous transform.

toSe2

public static Se2_F64 toSe2(org.ejml.data.DenseMatrix64F H,
                            Se2_F64 ret)

Converts a homogeneous representation into Se2_F64.

Parameters:

H - Homogeneous 3 by 3 matrix.

ret - If not null where the results are written to.

Returns:

Se3_F64 transform.

setEulerXYZ

public static Se3_F64 setEulerXYZ(double rotX,
                                  double rotY,
                                  double rotZ,
                                  double dx,
                                  double dy,
                                  double dz,
                                  Se3_F64 se)

Sets the value of an Se3_F64 using Euler XYZ coordinates for the rotation and a translation vector.

Parameters:

rotX - Rotation around X axis.

rotY - Rotation around Y axis.

rotZ - Rotation around Z axis.

dx - Translation along x-axis.

dy - Translation along y-axis.

dz - Translation along z-axis.

se - If not null then the transform is written here.

Returns:

The transform.