mmind::eye::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 (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.

Public Attributes
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.

Definition at line 112 of file CommonTypes.h.

Member Enumeration Documentation

Axis

enum class mmind::eye::FrameTransformation::Axis

strong

Definition at line 141 of file CommonTypes.h.

Constructor & Destructor Documentation

FrameTransformation() [1/2]

mmind::eye::FrameTransformation::FrameTransformation ( double rotateX, double rotateY, double rotateZ, double translateX, double translateY, double translateZ )

inline

Definition at line 116 of file CommonTypes.h.

FrameTransformation() [2/2]

mmind::eye::FrameTransformation::FrameTransformation ( const FrameTransformation & rhs )

inline

Definition at line 125 of file CommonTypes.h.

Member Function Documentation

isValid()

bool mmind::eye::FrameTransformation::isValid ( ) const

inline

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

Definition at line 194 of file CommonTypes.h.

operator=()

FrameTransformation & mmind::eye::FrameTransformation::operator= ( const FrameTransformation & rhs )

inline

Definition at line 131 of file CommonTypes.h.

rotate()

void mmind::eye::FrameTransformation::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.

Definition at line 149 of file CommonTypes.h.

translate()

void mmind::eye::FrameTransformation::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.

Definition at line 184 of file CommonTypes.h.

Member Data Documentation

rotation

double mmind::eye::FrameTransformation::rotation[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}

3*3 rotation matrix.

Definition at line 218 of file CommonTypes.h.

translation

double mmind::eye::FrameTransformation::translation[3] = {0, 0, 0}

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

Definition at line 219 of file CommonTypes.h.

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

• CommonTypes.h