The base class for representing spatial transforms.

Inheritance:

Public Fields

double	R [3][3] Orientation matrix
double	T [3] Translation vector

Public Methods

	mpkTransform (const SoTransform* X=0)
void	bind (const double* param_ptr)
void	rescale (double scalef)
double	get_scale ()
TYPE	get_type ()
const double*	get_axis ()
bool	update ()
void	set_product (const mpkTransform& X, const mpkTransform& Y)
void	append (const mpkTransform& X)
mpkTransform&	operator* (const mpkTransform& X)
void	set_identity ()
bool	is_identity () const
void	apply (double out[3], const double in[3]) const
static void	apply (double out[3], const double R[3][3], const double T[3], const double in[3])
void	apply_inv (double out[3], const double in[3]) const
void	print (ostream& f=cout) const
	operator SbMatrix () const

Public Members

enum	TYPE constant: constant transform rot1: rotation around axis transl_rot1: rotation around axis, then constant transl transl1: translation along axis func: general functional dependency

Documentation

For efficiency reasons, there is not an abstract base class plus several derived classes, one for each transform type. Instead, this single mpkTransform class includes a type flag and implements all possible transforms. The fields (R,T) store the current values of the transform. Further private fields store information required to update certain transform types, such as axis for a rotation.

Since multiple transforms can depend on the same parameter(s), each parameterized transform must be bound to a set of (normalized) parameters (each in [0,1]) using bind(). Once this has been done, the function update() can read the current values of the assigned parameters to recompute R and T.

For further details see mpkTransform.H.

mpkTransform(const SoTransform* X=0)

construct from constant transform given by X

void bind(const double* param_ptr)

For binding a parameterized transform to one or more normalized parameters. param_ptr must point to the first parameter.

void rescale(double scalef)

Sets the scale factor.

double get_scale()

Returns the scale factor.

TYPE get_type()

Returns the type.

const double* get_axis()

Returns the axis (only meaningful for some transforms).

bool update()

Updates the transform (after at least one parameter has been changed). Returns true for parameterized transform, false for constant transform.

void set_product(const mpkTransform& X, const mpkTransform& Y)

set transform to X*Y

void append(const mpkTransform& X)

concatenate X to the right to the transform

mpkTransform& operator*(const mpkTransform& X)

operator * has the same effect as append()

void set_identity()

sets (R,T) to identity transform but does not modify the type flag

bool is_identity() const

returns true if (R,T) is identity transform

void apply(double out[3], const double in[3]) const

apply transform to in and store result in out

static void apply(double out[3], const double R[3][3], const double T[3], const double in[3])

apply transform (R,T) to in and store result in out

void apply_inv(double out[3], const double in[3]) const

apply the inverse of the transform to in and store result in out

void print(ostream& f=cout) const

print to f

operator SbMatrix() const

convert to SbMatrix

Direct child classes:

mpkTransl1
mpkRot1
mpkFuncTransf
mpkConstTransl_Rot1
mpkConstTransl
mpkConstRot

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