transformationmatrix3.h
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1 
9 #ifndef TRANSFORMATION_MATRIX3_H
10 #define TRANSFORMATION_MATRIX3_H
11 
12 namespace argos {
13  class CVector3;
14  class CRotationMatrix3;
15 }
16 
17 #include <argos3/core/utility/math/matrix/squarematrix.h>
18 
19 namespace argos {
20 
22 
23  public:
24 
27  }
28 
30  SetFromMatrix(c_matrix);
31  }
32 
33  CTransformationMatrix3(const CRotationMatrix3& c_rotation, const CVector3& c_translation) : CSquareMatrix<4>() {
34  SetFromComponents(c_rotation, c_translation);
35  }
36 
37  CTransformationMatrix3(Real f_value0, Real f_value1, Real f_value2, Real f_value3,
38  Real f_value4, Real f_value5, Real f_value6, Real f_value7,
39  Real f_value8, Real f_value9, Real f_value10, Real f_value11,
40  Real f_value12, Real f_value13, Real f_value14, Real f_value15) : CSquareMatrix<4>() {
41  SetFromValues(f_value0, f_value1, f_value2, f_value3,
42  f_value4, f_value5, f_value6, f_value7,
43  f_value8, f_value9, f_value10, f_value11,
44  f_value12, f_value13, f_value14, f_value15);
45  }
46 
47  void SetFromMatrix(const CMatrix<4,4>& c_matrix);
48 
49  void SetFromComponents(const CRotationMatrix3& c_rotation, const CVector3& c_translation);
50 
51  void SetFromValues(Real f_value0, Real f_value1, Real f_value2, Real f_value3,
52  Real f_value4, Real f_value5, Real f_value6, Real f_value7,
53  Real f_value8, Real f_value9, Real f_value10, Real f_value11,
54  Real f_value12, Real f_value13, Real f_value14, Real f_value15);
55 
56  void SetRotationMatrix(const CRotationMatrix3& c_rotation);
57 
59 
60  void SetTranslationVector(const CVector3& c_translation);
61 
63 
64  CVector3 operator*(const CVector3& c_vector) const;
65 
67  };
68 }
69 
70 #endif
A 3D vector class.
Definition: vector3.h:29
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
void SetFromMatrix(const CMatrix< 4, 4 > &c_matrix)
CRotationMatrix3 GetRotationMatrix() const
void SetFromValues(Real f_value0, Real f_value1, Real f_value2, Real f_value3, Real f_value4, Real f_value5, Real f_value6, Real f_value7, Real f_value8, Real f_value9, Real f_value10, Real f_value11, Real f_value12, Real f_value13, Real f_value14, Real f_value15)
void SetFromComponents(const CRotationMatrix3 &c_rotation, const CVector3 &c_translation)
void SetTranslationVector(const CVector3 &c_translation)
CTransformationMatrix3(const CRotationMatrix3 &c_rotation, const CVector3 &c_translation)
CTransformationMatrix3(Real f_value0, Real f_value1, Real f_value2, Real f_value3, Real f_value4, Real f_value5, Real f_value6, Real f_value7, Real f_value8, Real f_value9, Real f_value10, Real f_value11, Real f_value12, Real f_value13, Real f_value14, Real f_value15)
void SetRotationMatrix(const CRotationMatrix3 &c_rotation)
CTransformationMatrix3(const CMatrix< 4, 4 > &c_matrix)
CVector3 operator*(const CVector3 &c_vector) const
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12