Class: Eigen::Affine3

Inherits:
Object
  • Object
show all
Defined in:
ext/eigen/eigen.cpp,
lib/eigen/affine3.rb

Overview

An affine transformation

Class Method Summary collapse

Instance Method Summary collapse

Class Method Details

.from_position_orientation(v, q) ⇒ Object 



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# File 'lib/eigen/affine3.rb', line 7

def self.from_position_orientation( v, q )
    i = Affine3.Identity
    i.prerotate( q )
    i.pretranslate( v )
    i
end

.Identity ⇒ Object 



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# File 'lib/eigen/affine3.rb', line 3

def self.Identity
    Affine3.new
end

Instance Method Details

#*(obj) ⇒ Object 



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# File 'lib/eigen/affine3.rb', line 23

def *(obj)
    if obj.kind_of?(Affine3)
        concatenate(obj)
    else
        transform(obj)
    end
end

#==(q) ⇒ Object 



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# File 'lib/eigen/affine3.rb', line 18

def ==(q)
    q.kind_of?(self.class) &&
        __equal__(q)
end

#approx?(v, threshold = dummy_precision) ⇒ Boolean

Verifies that two transformations are within threshold of each other, elementwise

Parameters:

Returns:

  • (Boolean)

#concatenate(is) ⇒ Affine3

Concatenate self and another transformation

Parameters:

Returns:

#dup ⇒ Object

Raises:

  • (NotImplementedError) 


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# File 'lib/eigen/affine3.rb', line 14

def dup
    raise NotImplementedError
end

#inverse ⇒ Affine3

The inverse transformation

Returns:

#matrix ⇒ MatrixX

The transformation matrix equivalent to self

Returns:

#prerotate(q) ⇒ void

This method returns an undefined value.

Add a new rotation before the translation

Parameters:

#pretranslate(v) ⇒ void

This method returns an undefined value.

Add a new translation before the rotation

Parameters:

#rotate(q) ⇒ void

This method returns an undefined value.

Add a new rotation after the translation

Parameters:

#rotation ⇒ Quaternion

The rotation part of this transformation

Returns:

#to_s ⇒ Object 



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# File 'lib/eigen/affine3.rb', line 31

def to_s
    matrix.to_s
end

#translate(v) ⇒ void

This method returns an undefined value.

Add a new translation after the rotation

Parameters:

#translation ⇒ Vector3

The translation part of this transformation

Returns: