Rosetta 3.4
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core::kinematics::RT Class Reference

Rotation + translation class. More...

#include <RT.hh>

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Collaboration graph
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List of all members.

Public Types

typedef numeric::xyzVector< RealVector
typedef numeric::xyzMatrix< RealMatrix
typedef void iterator_category
typedef void difference_type

Public Member Functions

 RT ()
 Default constructor.
 RT (Matrix const &rot, Vector const &vec)
 matrix/vector constructor
 RT (Stub const &stub1, Stub const &stub2)
 construct from two stubs
 RT (RT const &src)
 copy constructor
void from_stubs (Stub const &stub1, Stub const &stub2)
 update from stubs
void reverse ()
 reverse the "view"
void inverse ()
 reverse the "view"
void reset ()
 return to default-constructed state
void identity_transform ()
 return to default-constructed state (another name)
void set_translation (Vector const &t)
 set the tranlsation
void set_rotation (Matrix const &r)
 set the rotation
Matrix const & get_rotation () const
 get the rotation
Vector const & get_translation () const
 get the translation
Real distance_squared (RT const &b) const
void fold_in_rb_deltas (utility::vector1< Real > const &rb, Vector const &rb_center)
 update the transform to include small additional rigid-body rotations and translations
void make_jump (Stub const &stub1, Stub &stub2) const
 should be inverse of RT::from_stubs
RToperator= (RT const &src)
 copy operator
bool ortho_check () const
 check for orthogonality

Friends

std::ostream & operator<< (std::ostream &os, RT const &rt)
 output operator
std::istream & operator>> (std::istream &is, RT &rt)
 input operator
Real distance (RT const &a, RT const &b)
 root squared devitation of two RTs

Detailed Description

Rotation + translation class.

Note:
Used in jumps

Member Typedef Documentation


Constructor & Destructor Documentation

core::kinematics::RT::RT ( ) [inline]

Default constructor.

core::kinematics::RT::RT ( Matrix const &  rot,
Vector const &  vec 
) [inline]

matrix/vector constructor

core::kinematics::RT::RT ( Stub const &  stub1,
Stub const &  stub2 
) [inline]

construct from two stubs

References from_stubs().

core::kinematics::RT::RT ( RT const &  src) [inline]

copy constructor


Member Function Documentation

Real core::kinematics::RT::distance_squared ( RT const &  b) const [inline]
void core::kinematics::RT::fold_in_rb_deltas ( utility::vector1< Real > const &  rb,
Vector const &  rb_center 
)

update the transform to include small additional rigid-body rotations and translations

Note:
PHIL: IT WOULD BE GOOD TO ELIMINATE ARGUMENT ARRAYS IN MINI BY USE OF APPROPRIATE LAYERED DATA STRUCTURES

rb are the small changes in translation and rotation, written in up-stream (jump_start) rb_center is the center of rotation, written in the down-stream (jump_end)

Referenced by core::kinematics::Jump::fold_in_rb_deltas(), and core::kinematics::Jump::make_jump().

void core::kinematics::RT::from_stubs ( Stub const &  stub1,
Stub const &  stub2 
) [inline]
Matrix const& core::kinematics::RT::get_rotation ( ) const [inline]
Vector const& core::kinematics::RT::get_translation ( ) const [inline]
void core::kinematics::RT::identity_transform ( ) [inline]

return to default-constructed state (another name)

Referenced by core::kinematics::Jump::identity_transform().

void core::kinematics::RT::inverse ( ) [inline]

reverse the "view"

References reverse().

void core::kinematics::RT::make_jump ( Stub const &  stub1,
Stub stub2 
) const [inline]
RT& core::kinematics::RT::operator= ( RT const &  src) [inline]

copy operator

bool core::kinematics::RT::ortho_check ( ) const
void core::kinematics::RT::reset ( ) [inline]

return to default-constructed state

Referenced by core::kinematics::Jump::reset().

void core::kinematics::RT::reverse ( ) [inline]
void core::kinematics::RT::set_rotation ( Matrix const &  r) [inline]
void core::kinematics::RT::set_translation ( Vector const &  t) [inline]

Friends And Related Function Documentation

Real distance ( RT const &  a,
RT const &  b 
) [friend]

root squared devitation of two RTs

std::ostream& operator<< ( std::ostream &  os,
RT const &  rt 
) [friend]

output operator

std::istream& operator>> ( std::istream &  is,
RT rt 
) [friend]

input operator


The documentation for this class was generated from the following files:
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