FrameTransformation Struct Reference

Defines the rigid body transformations from one reference frame to another, including the rotation matrix and translation vector. More...

#include <CommonTypes.h>

Public Types
enum class	Axis { X , Y , Z }

Public Member Functions
	FrameTransformation ()=default
	FrameTransformation (double rotateX, double rotateY, double rotateZ, double translateX, double translateY, double translateZ)
	FrameTransformation (const FrameTransformation &rhs)
FrameTransformation &	operator= (const FrameTransformation &rhs)
void	rotate (double theta, Axis rotationAxis)
	Rotates the reference frame of the point cloud.
void	translate (double x, double y, double z)
	Translates the reference frame of the point cloud.
bool	isValid () const
	Check if a custom reference frame has been set using Mech-Eye Viewer.

Data Fields
double	rotation [3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}
	3*3 rotation matrix.
double	translation [3] = {0, 0, 0}
	3*1 translation vector in [x(mm), y(mm), z(mm)].

Detailed Description

Defines the rigid body transformations from one reference frame to another, including the rotation matrix and translation vector.

Member Enumeration Documentation

Axis

enum class Axis

strong

Enumerator
X
Y
Z

Constructor & Destructor Documentation

FrameTransformation() [1/3]

FrameTransformation ( )

default

FrameTransformation() [2/3]

FrameTransformation ( double  rotateX, double  rotateY, double  rotateZ, double  translateX, double  translateY, double  translateZ  )

inline

FrameTransformation() [3/3]

FrameTransformation ( const FrameTransformation &  rhs )

inline

Member Function Documentation

isValid()

bool isValid ( ) const

inline

Check if a custom reference frame has been set using Mech-Eye Viewer.

operator=()

FrameTransformation & operator= ( const FrameTransformation &  rhs )

inline

rotate()

void rotate ( double  theta, Axis  rotationAxis  )

inline

Rotates the reference frame of the point cloud.

Parameters

[in]	theta	The amount of rotation.
[in]	rotationAxis	The axis around which the rotation is performed. X-, Y-, and Z-Axes can be input.

translate()

void translate ( double  x, double  y, double  z  )

inline

Translates the reference frame of the point cloud.

Parameters

[in]	x	The amount of translation (in mm) along the X-axis.
[in]	y	The amount of translation (in mm) along the Y-axis.
[in]	z	The amount of translation (in mm) along the Z-axis.

Field Documentation

rotation

double rotation[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}

3*3 rotation matrix.

translation

double translation[3] = {0, 0, 0}

3*1 translation vector in [x(mm), y(mm), z(mm)].

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The documentation for this struct was generated from the following file:

• CommonTypes.h