Transformation Class Reference

Transformation for homogenous three dimensional space. More...

#include <transformation.hpp>

Public Member Functions
	Transformation ()
	Constructor for identity transformation. More...
	Transformation (double x11, double x12, double x13, double x14, double x21, double x22, double x23, double x24, double x31, double x32, double x33, double x34, double x41, double x42, double x43, double x44)
	Constructor for preset transformation matrix. More...
	Transformation (const Transformation &m)
	Copy constructor. More...
	Transformation (std::istream &is)
	Constructor for loading transformation from stream is. More...
	~Transformation ()
	Destructor. More...
double &	operator[] (int i)
	Indexing for transformation matrix. More...
const double &	operator[] (int i) const
	Indexing for constant transformation matrix. More...
Transformation	transpose (void) const
	Return transpose matrix. More...
double	determinant (void) const
	Return determinant of matrix. More...
Transformation	inverse (void) const
	Return inverse matrix. More...
bool	operator!= (const Transformation &m) const
	Non-equality test. More...
const Transformation &	operator*= (double s)
	Multiplication of tranformation matrix by scalar. More...
Transformation	operator* (const Transformation &m) const
	Multiplication of transformation matrices for combining transformations. More...
Vec4D	operator* (const Vec4D &v) const
	Multiplication of tranformation matrix by vector. More...
Vec4D	operator% (const Vec4D &v) const
	Multiplication of the transpose of the tranformation matrix by vector. More...
Vec4D	transform (const Vec4D &xin) const
	Transform homogenous vector xin. More...
Vec4D	transform_homogenous_point (const Vec3D &xin) const
	Transform point xin to homogenous space. More...
Vec3D	transform_point (const Vec3D &xin) const
	Transform point xin. More...
Vec3D	inv_transform_point (const Vec3D &xin) const
	Inverse transform point xin. More...
Vec3D	transform_vector (const Vec3D &xin) const
	Transform vector xin. More...
Vec3D	inv_transform_vector (const Vec3D &xin) const
	Inverse transform vector xin. More...
void	reset (void)
	Reset transformation. More...
void	translate (const Vec3D &d)
	Translate transformation. More...
void	translate_before (const Vec3D &d)
	Translate transformation. More...
void	scale (const Vec3D &s)
	Scale transformation. More...
void	scale_before (const Vec3D &s)
	Scale transformation. More...
void	rotate_x (double a)
	Rotate transformation around x-axis. More...
void	rotate_x_before (double a)
	Rotate transformation around x-axis. More...
void	rotate_y (double a)
	Rotate transformation around y-axis. More...
void	rotate_y_before (double a)
	Rotate transformation around y-axis. More...
void	rotate_z (double a)
	Rotate transformation around z-axis. More...
void	rotate_z_before (double a)
	Rotate transformation around z-axis. More...
void	save (const std::string &filename) const
	Saves data to a new file filename. More...
void	save (std::ostream &os) const
	Saves vector field data to stream os. More...
void	debug_print (std::ostream &os) const
	Print debugging information to stream os. More...

Static Public Member Functions
static Transformation	unity (void)
	Return unity transformation. More...
static Transformation	translation (const Vec3D &d)
	Return translation transformation. More...
static Transformation	scaling (const Vec3D &s)
	Return scaling transformation. More...
static Transformation	rotation_x (double a)
	Return rotation transformation rotating around x-axis. More...
static Transformation	rotation_y (double a)
	Return rotation transformation rotating around y-axis. More...
static Transformation	rotation_z (double a)
	Return rotation transformation rotating around z-axis. More...

Friends
std::ostream &	operator<< (std::ostream &os, const Transformation &t)
	Outputting to stream. More...

Detailed Description

Transformation for homogenous three dimensional space.

Transformation for homogenous three dimensional space operates of 4-vectors of type Vec4D. The transformation contains convenience functions for making affine transformations on 3-vectors of type Vec3D.

The Transformation object is a 4x4 matrix with convenience functions for transformation related operations. The matrix is stored in row first order:

 0  1  2  3
 4  5  6  7
 8  9 10 11
12 13 14 15

Constructor & Destructor Documentation

Transformation() [1/4]

Transformation::Transformation

(

)

Constructor for identity transformation.

Transformation() [2/4]

Transformation::Transformation	(	double	x11,
		double	x12,
		double	x13,
		double	x14,
		double	x21,
		double	x22,
		double	x23,
		double	x24,
		double	x31,
		double	x32,
		double	x33,
		double	x34,
		double	x41,
		double	x42,
		double	x43,
		double	x44
	)

Constructor for preset transformation matrix.

Transformation() [3/4]

Transformation::Transformation

(

const Transformation &

m

)

Copy constructor.

Transformation() [4/4]

Transformation::Transformation

(

std::istream &

is

)

Constructor for loading transformation from stream is.

~Transformation()

Transformation::~Transformation

(

)

Destructor.

Member Function Documentation

debug_print()

void Transformation::debug_print

(

std::ostream &

os

)

const

Print debugging information to stream os.

determinant()

double Transformation::determinant

(

void

)

const

Return determinant of matrix.

inv_transform_point()

Vec3D Transformation::inv_transform_point

(

const Vec3D &

xin

)

const

Inverse transform point xin.

Assumes the transformation is affine. Homogenization of output vector is not done.

This is a convenience function to inverting a transformation matrix and then doing a transform. If more than one transform is done inverse() and transform() functions should be used.

inv_transform_vector()

Vec3D Transformation::inv_transform_vector

(

const Vec3D &

xin

)

const

Inverse transform vector xin.

Assumes the transformation is affine. Homogenization of output vector is not done.

This is a convenience function to inverting a transformation matrix and then doing a transform. If more than one transform is done inverse() and transform_vector() functions should be used.

inverse()

Transformation Transformation::inverse

(

void

)

const

Return inverse matrix.

Throws an error if determinant is zero.

operator!=()

bool Transformation::operator!=

(

const Transformation &

m

)

const

Non-equality test.

operator%()

Vec4D Transformation::operator%

(

const Vec4D &

v

)

const

Multiplication of the transpose of the tranformation matrix by vector.

Used for transforming surface normal vectors.

operator*() [1/2]

Transformation Transformation::operator*

(

const Transformation &

m

)

const

Multiplication of transformation matrices for combining transformations.

Tranformation is done by multiplying the matrix with a vector from the right. Therefore the multiplication of transformation matrices has the effect that the right-hand-side transformation is applied first and left-hand-side second.

operator*() [2/2]

Vec4D Transformation::operator*

(

const Vec4D &

v

)

const

Multiplication of tranformation matrix by vector.

Makes a full transformation on the homogenous vector v.

operator*=()

const Transformation & Transformation::operator*=

(

double

s

)

Multiplication of tranformation matrix by scalar.

operator[]() [1/2]

double& Transformation::operator[] ( int  i )

inline

Indexing for transformation matrix.

operator[]() [2/2]

const double& Transformation::operator[] ( int  i ) const

inline

Indexing for constant transformation matrix.

reset()

void Transformation::reset

(

void

)

Reset transformation.

Reset transformation to unity.

rotate_x()

void Transformation::rotate_x

(

double

a

)

Rotate transformation around x-axis.

Rotate around x-axis for a radians.

The effect of the new transformation is to first do the old transformation and then do the rotation.

rotate_x_before()

void Transformation::rotate_x_before

(

double

a

)

Rotate transformation around x-axis.

Rotate around x-axis for a radians.

The effect of the new transformation is to first do the rotation and then do the old transformation.

rotate_y()

void Transformation::rotate_y

(

double

a

)

Rotate transformation around y-axis.

Rotate around y-axis for a radians.

The effect of the new transformation is to first do the old transformation and then do the rotation.

rotate_y_before()

void Transformation::rotate_y_before

(

double

a

)

Rotate transformation around y-axis.

Rotate around y-axis for a radians.

The effect of the new transformation is to first do the rotation and then do the old transformation.

rotate_z()

void Transformation::rotate_z

(

double

a

)

Rotate transformation around z-axis.

Rotate around z-axis for a radians.

The effect of the new transformation is to first do the old transformation and then do the rotation.

rotate_z_before()

void Transformation::rotate_z_before

(

double

a

)

Rotate transformation around z-axis.

Rotate around z-axis for a radians.

The effect of the new transformation is to first do the rotation and then do the old transformation.

rotation_x()

Transformation Transformation::rotation_x ( double  a )

static

Return rotation transformation rotating around x-axis.

rotation_y()

Transformation Transformation::rotation_y ( double  a )

static

Return rotation transformation rotating around y-axis.

rotation_z()

Transformation Transformation::rotation_z ( double  a )

static

Return rotation transformation rotating around z-axis.

save() [1/2]

void Transformation::save

(

const std::string &

filename

)

const

Saves data to a new file filename.

save() [2/2]

void Transformation::save

(

std::ostream &

os

)

const

Saves vector field data to stream os.

scale()

void Transformation::scale

(

const Vec3D &

s

)

Scale transformation.

The effect of the new transformation is to first do the old transformation and then do the scaling.

scale_before()

void Transformation::scale_before

(

const Vec3D &

s

)

Scale transformation.

The effect of the new transformation is to first do the scaling and then do the old transformation.

scaling()

Transformation Transformation::scaling ( const Vec3D &  s )

static

Return scaling transformation.

transform()

Vec4D Transformation::transform ( const Vec4D &  xin ) const

inline

Transform homogenous vector xin.

transform_homogenous_point()

Vec4D Transformation::transform_homogenous_point ( const Vec3D &  xin ) const

inline

Transform point xin to homogenous space.

Homogenization of output vector is not done.

transform_point()

Vec3D Transformation::transform_point ( const Vec3D &  xin ) const

inline

Transform point xin.

Assumes the transformation is affine. Homogenization of output vector is not done.

transform_vector()

Vec3D Transformation::transform_vector ( const Vec3D &  xin ) const

inline

Transform vector xin.

Assumes the transformation is affine. Homogenization of output vector is not done.

translate()

void Transformation::translate

(

const Vec3D &

d

)

Translate transformation.

The effect of the new transformation is to first do the old transformation and then do the translation.

translate_before()

void Transformation::translate_before

(

const Vec3D &

d

)

Translate transformation.

The effect of the new transformation is to first do the translation and then do the old transformation.

translation()

Transformation Transformation::translation ( const Vec3D &  d )

static

Return translation transformation.

transpose()

Transformation Transformation::transpose

(

void

)

const

Return transpose matrix.

unity()

Transformation Transformation::unity ( void  )

static

Return unity transformation.

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  os, const Transformation &  t  )

friend

Outputting to stream.

---

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

• transformation.hpp
• transformation.cpp