A 4x4 'transformation' matrix (column major order) associated to an index (typically a timestamp) More...

#include <ccIndexedTransformation.h>

Inheritance diagram for ccIndexedTransformation:

[legend]

Collaboration diagram for ccIndexedTransformation:

[legend]

Public Member Functions
	ccIndexedTransformation ()
	Default constructor. More...

	ccIndexedTransformation (const ccGLMatrix &matrix)
	Constructor from a transformation matrix. More...

	ccIndexedTransformation (const ccGLMatrix &matrix, double index)
	Constructor from a transformation matrix and an index. More...

	ccIndexedTransformation (const ccIndexedTransformation &trans)=default
	Copy constructor.

double	getIndex () const
	Returns associated index (e.g. timestamp)

void	setIndex (double index)
	Sets associated index (e.g. timestamp)

ccIndexedTransformation	operator* (const ccGLMatrix &mat) const
	Multiplication by a ccGLMatrix operator.

ccIndexedTransformation &	operator*= (const ccGLMatrix &mat)
	(in place) Multiplication by a ccGLMatrix operator More...

ccIndexedTransformation &	operator+= (const CCVector3 &T)
	Multiplication operator. More...

ccIndexedTransformation &	operator-= (const CCVector3 &T)
	(in place) Translation operator More...

ccIndexedTransformation	transposed () const
	Returns transposed transformation. More...

ccIndexedTransformation	inverse () const
	Returns inverse transformation. More...

bool	toAsciiFile (QString filename, int precision=12) const override
	Saves matrix to an ASCII file. More...

bool	fromAsciiFile (QString filename) override
	Loads matrix from an ASCII file. More...

bool	isSerializable () const override
	Returns whether object is serializable of not. More...

bool	toFile (QFile &out) const override
	Saves data to binary stream. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads data from binary stream. More...

Public Member Functions inherited from ccGLMatrix
	ccGLMatrix ()
	Default constructor. More...

	ccGLMatrix (const ccGLMatrixTpl< float > &mat)
	Copy constructor from a ccGLMatrixTpl. More...

	ccGLMatrix (const float *mat16f)
	Constructor from a float GL matrix array. More...

	ccGLMatrix (const double *mat16d)
	Constructor from a double GL matrix array. More...

	ccGLMatrix (const Vector3Tpl< float > &X, const Vector3Tpl< float > &Y, const Vector3Tpl< float > &Z, const Vector3Tpl< float > &Tr)
	Constructor from 4 columns (X,Y,Z,Tr) More...

Public Member Functions inherited from ccGLMatrixTpl< float >
	ccGLMatrixTpl ()
	Default constructor. More...

	ccGLMatrixTpl (const ccGLMatrixTpl< float > &mat)
	Copy constructor.

	ccGLMatrixTpl (const float *mat16f)
	Constructor from a float GL matrix array. More...

	ccGLMatrixTpl (const double *mat16d)
	Constructor from a double GL matrix array. More...

	ccGLMatrixTpl (const Vector3Tpl< float > &X, const Vector3Tpl< float > &Y, const Vector3Tpl< float > &Z, const Vector3Tpl< float > &Tr)
	Constructor from 4 columns (X,Y,Z,T) More...

QString	toString (int precision=12, QChar separator=' ') const
	Returns matrix as a string. More...

virtual bool	toAsciiFile (QString filename, int precision=12) const
	Saves matrix to an ASCII file. More...

virtual bool	fromAsciiFile (QString filename)
	Loads matrix from an ASCII file. More...

ccGLMatrixTpl< float >	xRotation () const
	Returns the rotation component around X only.

ccGLMatrixTpl< float >	yRotation () const
	Returns the rotation component around Y only.

ccGLMatrixTpl< float >	zRotation () const
	Returns the rotation component around Z only.

virtual void	toZero ()
	Clears matrix. More...

virtual void	toIdentity ()
	Sets matrix to identity.

void	clearTranslation ()
	Clears translation. More...

void	initFromParameters (float alpha_rad, const Vector3Tpl< float > &axis3D, const Vector3Tpl< float > &t3D)
	Inits transformation from a rotation axis, an angle and a translation. More...

void	initFromParameters (float phi_rad, float theta_rad, float psi_rad, const Vector3Tpl< float > &t3D)
	Inits transformation from 3 rotation angles and a translation. More...

void	getParameters (float &alpha_rad, Vector3Tpl< float > &axis3D, Vector3Tpl< float > &t3D) const
	Returns equivalent parameters: a rotation axis, an angle and a translation. More...

void	getParameters (float &phi_rad, float &theta_rad, float &psi_rad, Vector3Tpl< float > &t3D) const
	Returns equivalent parameters: 3 rotation angles and a translation. More...

float *	data ()
	Returns a pointer to internal data.

const float *	data () const
	Returns a const pointer to internal data.

float *	getTranslation ()
	Returns a pointer to internal translation. More...

const float *	getTranslation () const
	Returns a const pointer to internal translation. More...

Vector3Tpl< float >	getTranslationAsVec3D () const
	Returns a copy of the translation as a CCVector3. More...

void	setTranslation (const Vector3Tpl< float > &Tr)
	Sets translation (float version) More...

void	setTranslation (const Vector3Tpl< double > &Tr)
	Sets translation (double version) More...

void	setTranslation (const float Tr[3])
	Sets translation from a float array. More...

void	setTranslation (const double Tr[3])
	Sets translation from a double array. More...

float *	getColumn (unsigned index)
	Returns a pointer to a given column. More...

const float *	getColumn (unsigned index) const
	Returns a const pointer to a given column. More...

Vector3Tpl< float >	getColumnAsVec3D (unsigned index) const
	Returns a copy of a given column as a CCVector3. More...

void	setColumn (unsigned index, const Vector3Tpl< float > &v)
	Sets the content of a given column. More...

void	setColumn (unsigned index, const Tuple4Tpl< float > &v)
	Sets the content of a given column. More...

ccGLMatrixTpl< float >	operator* (const ccGLMatrixTpl< float > &mat) const
	Multiplication by a matrix operator.

Vector3Tpl< float >	operator* (const Vector3Tpl< float > &vec) const
	Multiplication by a vector operator (float version)

Vector3Tpl< double >	operator* (const Vector3Tpl< double > &vec) const
	Multiplication by a vector operator (double version)

Tuple4Tpl< float >	operator* (const Tuple4Tpl< float > &vec) const
	Multiplication by a 4D vector operator (float version)

Tuple4Tpl< double >	operator* (const Tuple4Tpl< double > &vec) const
	Multiplication by a 4D vector operator (double version)

ccGLMatrixTpl< float > &	operator+= (const ccGLMatrixTpl< float > &mat)
	(in place) Addition operator

ccGLMatrixTpl< float > &	operator+= (const Vector3Tpl< float > &Tr)
	(in place) Forward translation operator (float version)

ccGLMatrixTpl< float > &	operator+= (const Vector3Tpl< double > &Tr)
	(in place) Forward translation operator (double version)

ccGLMatrixTpl< float > &	operator-= (const ccGLMatrixTpl< float > &mat)
	(in place) Difference operator

ccGLMatrixTpl< float > &	operator-= (const Vector3Tpl< float > &Tr)
	(in place) Backward translation operator (float version)

ccGLMatrixTpl< float > &	operator-= (const Vector3Tpl< double > &Tr)
	(in place) Backward translation operator (double version)

ccGLMatrixTpl< float > &	*operator=** (const ccGLMatrixTpl< float > &mat)
	(in place) Multiplication operator

float	operator() (unsigned row, unsigned col) const
	Returns the value at a given position.

void	apply (Vector3Tpl< float > &vec) const
	Applies transformation to a 3D vector (in place) - float version. More...

void	apply (Vector3Tpl< double > &vec) const
	Applies transformation to a 3D vector (in place) - double version. More...

void	apply (Tuple4Tpl< float > &vec) const
	Applies transformation to a 4D vector (in place) - float version. More...

void	apply (Tuple4Tpl< double > &vec) const
	Applies transformation to a 3D vector (in place) - double version. More...

float	applyX (const Vector3Tpl< float > &vec) const
	Get the resulting transformation along X dimension (float version)

double	applyX (const Vector3Tpl< double > &vec) const
	Get the resulting transformation along X dimension (double version)

float	applyX (const Tuple4Tpl< float > &vec) const
	Get the resulting transformation along X dimension (float version)

double	applyX (const Tuple4Tpl< double > &vec) const
	Get the resulting transformation along X dimension (double version)

float	applyY (const Vector3Tpl< float > &vec) const
	Get the resulting transformation along Y dimension (float version)

double	applyY (const Vector3Tpl< double > &vec) const
	Get the resulting transformation along Y dimension (double version)

float	applyY (const Tuple4Tpl< float > &vec) const
	Get the resulting transformation along Y dimension (float version)

double	applyY (const Tuple4Tpl< double > &vec) const
	Get the resulting transformation along Y dimension (double version)

float	applyZ (const Vector3Tpl< float > &vec) const
	Get the resulting transformation along Z dimension (float version)

double	applyZ (const Vector3Tpl< double > &vec) const
	Get the resulting transformation along Z dimension (double version)

float	applyZ (const Tuple4Tpl< float > &vec) const
	Get the resulting transformation along Z dimension (float version)

double	applyZ (const Tuple4Tpl< double > &vec) const
	Get the resulting transformation along Z dimension (double version)

float	applyW (const Tuple4Tpl< float > &vec) const
	Get the resulting transformation along the 4th dimension (float version)

double	applyW (const Tuple4Tpl< double > &vec) const
	Get the resulting transformation along the 4th dimension (double version)

void	applyRotation (Vector3Tpl< float > &vec) const
	Applies rotation only to a 3D vector (in place) - float version. More...

void	applyRotation (Vector3Tpl< double > &vec) const
	Applies rotation only to a 3D vector (in place) - double version. More...

void	applyRotation (float vec[3]) const
	Applies rotation only to a 3D vector (in place) - float version. More...

void	applyRotation (double vec[3]) const
	Applies rotation only to a 3D vector (in place) - float version. More...

void	shiftRotationCenter (const Vector3Tpl< float > &vec)
	Shifts rotation center. More...

void	transpose ()
	Transposes matrix (in place)

ccGLMatrixTpl< float >	transposed () const
	Returns transposed matrix.

void	invert ()
	Inverts transformation.

ccGLMatrixTpl< float >	inverse () const
	Returns inverse transformation.

void	scaleRotation (float coef)
	Scales the rotation part of the matrix. More...

void	scaleRow (unsigned rowIndex, float coef)
	Scales one row of the matrix. More...

void	scaleColumn (unsigned colIndex, float coef)
	Scales one column of the matrix. More...

bool	isSerializable () const override
	Returns whether object is serializable of not. More...

bool	toFile (QFile &out) const override
	Saves data to binary stream. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads data from binary stream. More...

Public Member Functions inherited from ccSerializableObject
virtual	~ccSerializableObject ()=default
	Destructor.

virtual bool	isSerializable () const
	Returns whether object is serializable of not. More...

virtual bool	toFile (QFile &out) const
	Saves data to binary stream. More...

virtual bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap)
	Loads data from binary stream. More...

Static Public Member Functions
static ccIndexedTransformation	Interpolate (double interpIndex, const ccIndexedTransformation &trans1, const ccIndexedTransformation &trans2)
	Interpolates two transformations at an absolute position (index) More...

Static Public Member Functions inherited from ccGLMatrixTpl< float >
static ccGLMatrixTpl	Interpolate (float coef, const ccGLMatrixTpl< float > &glMat1, const ccGLMatrixTpl< float > &glMat2)
	Interpolates two matrices at relative position 'coef'. More...

static ccGLMatrixTpl< float >	FromToRotation (const Vector3Tpl< float > &from, const Vector3Tpl< float > &to)
	Creates a transformation matrix that rotates a vector to another. More...

static ccGLMatrixTpl< float >	FromQuaternion (const Tq q[])
	Converts a quaternion to a rotation matrix. More...

static ccGLMatrixTpl< float >	FromViewDirAndUpDir (const Vector3Tpl< float > &forward, const Vector3Tpl< float > &up)
	Generates a 'viewing' matrix from a looking vector and a 'up' direction. More...

static ccGLMatrixTpl< float >	FromString (const QString &matText, bool &success)
	Converts a 'text' matrix to a ccGLMatrix. More...

Static Public Member Functions inherited from ccSerializableObject
static bool	WriteError ()
	Sends a custom error message (write error) and returns 'false'. More...

static bool	ReadError ()
	Sends a custom error message (read error) and returns 'false'. More...

static bool	MemoryError ()
	Sends a custom error message (not enough memory) and returns 'false'. More...

static bool	CorruptError ()
	Sends a custom error message (corrupted file) and returns 'false'. More...

Protected Attributes
double	m_index
	Associated index (e.g. timestamp)

Protected Attributes inherited from ccGLMatrixTpl< float >
float	m_mat [OPENGL_MATRIX_SIZE]
	Internal 4x4 GL-style matrix data.

Additional Inherited Members
Public Types inherited from ccSerializableObject
enum	DeserializationFlags { DF_POINT_COORDS_64_BITS = 1 , DF_SCALAR_VAL_32_BITS = 2 }
	Deserialization flags (bit-field) More...

typedef QMultiMap< unsigned, unsigned >	LoadedIDMap
	Map of loaded unique IDs (old ID --> new ID)

Protected Member Functions inherited from ccGLMatrixTpl< float >
void	internalRescale ()
	Transfers the homogenous coordinate (scale) to the whole matrix.

Detailed Description

A 4x4 'transformation' matrix (column major order) associated to an index (typically a timestamp)

Constructor & Destructor Documentation

◆ ccIndexedTransformation() [1/3]

ccIndexedTransformation::ccIndexedTransformation ( )

Default constructor.

Matrix is set to identity (see ccGLMatrix::toIdentity) by default. Index is set to zero by default.

◆ ccIndexedTransformation() [2/3]

ccIndexedTransformation::ccIndexedTransformation ( const ccGLMatrix & matrix )

Constructor from a transformation matrix.

Index is set to zero by default.

Parameters

matrix transformation matrix

◆ ccIndexedTransformation() [3/3]

ccIndexedTransformation::ccIndexedTransformation	(	const ccGLMatrix &	matrix,
		double	index
	)

Constructor from a transformation matrix and an index.

Parameters

matrix	transformation matrix
index	associated index (e.g. timestamp)

Member Function Documentation

◆ fromAsciiFile()

bool ccIndexedTransformation::fromAsciiFile ( QString filename )

overridevirtual

Loads matrix from an ASCII file.

Parameters

filename input file name

Reimplemented from ccGLMatrixTpl< float >.

◆ fromFile()

bool ccIndexedTransformation::fromFile	(	QFile &	in,
		short	dataVersion,
		int	flags,
		LoadedIDMap &	oldToNewIDMap
	)

overridevirtual

Loads data from binary stream.

Parameters

in	input file (already opened)
dataVersion	file version
flags	deserialization flags (see ccSerializableObject::DeserializationFlags)
oldToNewIDMap	map to link old IDs with new IDs

Returns: success

Reimplemented from ccSerializableObject.

◆ Interpolate()

ccIndexedTransformation ccIndexedTransformation::Interpolate	(	double	interpIndex,
		const ccIndexedTransformation &	trans1,
		const ccIndexedTransformation &	trans2
	)

static

Interpolates two transformations at an absolute position (index)

Warning: interpolation index must lie between the two input matrices indexes!

Parameters

interpIndex	interpolation position (should be between trans1 and trans2 indexes).
trans1	first transformation
trans2	second transformation

◆ inverse()

ccIndexedTransformation ccIndexedTransformation::inverse ( ) const

Returns inverse transformation.

Warning: index is not modified by this operation.

◆ isSerializable()

bool ccIndexedTransformation::isSerializable ( ) const

inlineoverridevirtual

Returns whether object is serializable of not.

Reimplemented from ccSerializableObject.

◆ operator*=()

ccIndexedTransformation & ccIndexedTransformation::operator*= ( const ccGLMatrix & mat )

(in place) Multiplication by a ccGLMatrix operator

Warning: index is not modified by this operation.

◆ operator+=()

ccIndexedTransformation & ccIndexedTransformation::operator+= ( const CCVector3 & T )

Multiplication operator.

(in place) Multiplication operator Warning: index is not modified by this operation. (in place) Translation operator Warning: index is not modified by this operation.

◆ operator-=()

ccIndexedTransformation & ccIndexedTransformation::operator-= ( const CCVector3 & T )

(in place) Translation operator

Warning: index is not modified by this operation.

◆ toAsciiFile()

bool ccIndexedTransformation::toAsciiFile	(	QString	filename,
		int	precision = `12`
	)		const

overridevirtual

Saves matrix to an ASCII file.

Parameters

filename	output file name
precision	output digits precision

Reimplemented from ccGLMatrixTpl< float >.

◆ toFile()

bool ccIndexedTransformation::toFile ( QFile & out ) const

overridevirtual

Saves data to binary stream.

Parameters

out	output file (already opened)

Returns: success

Reimplemented from ccSerializableObject.

◆ transposed()

ccIndexedTransformation ccIndexedTransformation::transposed ( ) const

Returns transposed transformation.

Warning: index is not modified by this operation.

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

ccIndexedTransformation.h
ccIndexedTransformation.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ccIndexedTransformation() [1/3]

◆ ccIndexedTransformation() [2/3]

◆ ccIndexedTransformation() [3/3]

Member Function Documentation

◆ fromAsciiFile()

◆ fromFile()

◆ Interpolate()

◆ inverse()

◆ isSerializable()

◆ operator*=()

◆ operator+=()

◆ operator-=()

◆ toAsciiFile()

◆ toFile()

◆ transposed()