A RotoTrans which is attached to a segment. More...

#include <RotoTransNode.h>

Inheritance diagram for biorbd::utils::RotoTransNode:

Public Member Functions
	RotoTransNode ()
	Construct a RotoTransNode.

	RotoTransNode (const biorbd::utils::RotoTrans &rt, const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct a RotoTransNode. More...

biorbd::utils::RotoTransNode	DeepCopy () const
	Deep copy of a RotoTransNode. More...

void	DeepCopy (const biorbd::utils::RotoTransNode &other)
	Deep copy of a RotoTransNode into another RotoTransNode. More...

void	operator= (const biorbd::utils::RotoTrans &other)
	operator= Matrix multiplication More...

biorbd::utils::RotoTrans	operator* (const biorbd::utils::RotoTransNode &other) const
	operator* Matrix multiplication More...

Public Member Functions inherited from biorbd::utils::RotoTrans
	RotoTrans (const RigidBodyDynamics::Math::Matrix4d &matrix=RigidBodyDynamics::Math::Matrix4d::Identity())
	Construct RotoTrans matrix. More...

	RotoTrans (const biorbd::utils::Scalar &v00, const biorbd::utils::Scalar &v01, const biorbd::utils::Scalar &v02, const biorbd::utils::Scalar &v03, const biorbd::utils::Scalar &v10, const biorbd::utils::Scalar &v11, const biorbd::utils::Scalar &v12, const biorbd::utils::Scalar &v13, const biorbd::utils::Scalar &v20, const biorbd::utils::Scalar &v21, const biorbd::utils::Scalar &v22, const biorbd::utils::Scalar &v23, const biorbd::utils::Scalar &v30, const biorbd::utils::Scalar &v31, const biorbd::utils::Scalar &v32, const biorbd::utils::Scalar &v33)
	RotoTrans Construct a RotoTrans matrix by elements. More...

	RotoTrans (const biorbd::utils::Rotation &rot)
	Contruct Rototrans. More...

	RotoTrans (const biorbd::utils::Rotation &rot, const biorbd::utils::Vector3d &trans)
	Contruct Rototrans. More...

	RotoTrans (const biorbd::utils::Vector &rotation, const biorbd::utils::Vector3d &translation, const biorbd::utils::String &rotationSequence)
	Contruct Rototrans. More...

	RotoTrans (const RigidBodyDynamics::Math::SpatialTransform &st)
	Contruct Rototrans. More...

biorbd::utils::Vector3d	axe (unsigned int idx) const
	Get a particular axis of the rotation matrix. More...

biorbd::utils::RotoTrans	transpose () const
	Return the tranposed matrix. More...

biorbd::utils::Vector3d	trans () const
	Return the translation vector. More...

biorbd::utils::Rotation	rot () const
	Return the rotation matrix. More...

Public Member Functions inherited from biorbd::utils::Node
	Node ()
	Construct Node.

	Node (const biorbd::utils::Node &other)
	Construct Node from another node. More...

	Node (const biorbd::utils::String &name)
	Construct Node. More...

	Node (const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct Node. More...

virtual	~Node ()
	Destroy class properly.

void	DeepCopy (const biorbd::utils::Node &other)
	Deep copy of the node in another node. More...

void	setName (const biorbd::utils::String &name)
	Set the name of the node. More...

const biorbd::utils::String &	name () const
	Return the name of the node.

const biorbd::utils::String &	parent () const
	Return the parent name of the node.

void	setParent (const biorbd::utils::String &name)
	Set the parent name of the node. More...

biorbd::utils::NODE_TYPE	typeOfNode () const
	Return the type of node.

Protected Member Functions
void	setType ()
	Set the type to ROTOTRANS.

Protected Member Functions inherited from biorbd::utils::RotoTrans
RigidBodyDynamics::Math::Vector4d	expand3dTo4d (const biorbd::utils::Vector3d &v1)
	Expand 3D vector to 4D (padding with an extra 1) More...

void	checkUnitary ()
	Check if the RotoTrans has a unitary matrix of rotation and the last row is (0, 0, 0, 1) More...

Additional Inherited Members
Static Public Member Functions inherited from biorbd::utils::RotoTrans
static biorbd::utils::RotoTrans	fromMarkers (const biorbd::rigidbody::NodeSegment &origin, const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &axis1markers, const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &axis2markers, const std::pair< biorbd::utils::String, biorbd::utils::String > &axesNames, const biorbd::utils::String &axisToRecalculate)
	fromMarkers Creates a system of axes from two axes and an origin defined by markers More...

static biorbd::utils::RotoTrans	combineRotAndTrans (const biorbd::utils::Rotation &rot, const biorbd::utils::Vector3d &trans)
	Set the RotoTrans from a rotation and a translation. More...

static biorbd::utils::RotoTrans	fromSpatialTransform (const RigidBodyDynamics::Math::SpatialTransform &st)
	set the RotoTrans from a spatial transform More...

static biorbd::utils::RotoTrans	fromEulerAngles (const biorbd::utils::Vector &rot, const biorbd::utils::Vector3d &trans, const biorbd::utils::String &seq)
	Create a RotoTrans from Euler angles. More...

static biorbd::utils::Vector	toEulerAngles (const biorbd::utils::RotoTrans &rt, const biorbd::utils::String &seq)
	Return extracted angles from the rotation matrix into Euler angles using the provided sequence. More...

static biorbd::utils::RotoTrans	mean (const std::vector< biorbd::utils::RotoTrans > &rt)
	Get the mean of the 4x4 matrices. More...

Protected Attributes inherited from biorbd::utils::Node
std::shared_ptr< biorbd::utils::String >	m_name
	The name of the node.

std::shared_ptr< biorbd::utils::String >	m_parentName
	The parent name of the node.

std::shared_ptr< biorbd::utils::NODE_TYPE >	m_typeOfNode
	The type of the node.

Detailed Description

A RotoTrans which is attached to a segment.

Definition at line 15 of file RotoTransNode.h.

Constructor & Destructor Documentation

◆ RotoTransNode()

biorbd::utils::RotoTransNode::RotoTransNode	(	const biorbd::utils::RotoTrans &	rt,
		const biorbd::utils::String &	name,
		const biorbd::utils::String &	parentName
	)

Construct a RotoTransNode.

Parameters

rt	The RotoTrans matrix
name	The name of the rt
parentName	The name of the parent segment

Definition at line 13 of file RotoTransNode.cpp.

Member Function Documentation

◆ DeepCopy() [1/2]

biorbd::utils::RotoTransNode biorbd::utils::RotoTransNode::DeepCopy ( ) const

Deep copy of a RotoTransNode.

Returns: A deep copy of a RotoTrans node

Definition at line 23 of file RotoTransNode.cpp.

◆ DeepCopy() [2/2]

void biorbd::utils::RotoTransNode::DeepCopy ( const biorbd::utils::RotoTransNode & other )

Deep copy of a RotoTransNode into another RotoTransNode.

Parameters

other The RotoTransNode to copy

Definition at line 30 of file RotoTransNode.cpp.

◆ operator*()

biorbd::utils::RotoTrans biorbd::utils::RotoTransNode::operator* ( const biorbd::utils::RotoTransNode & other ) const

operator* Matrix multiplication

Returns: Rotated matrix

Definition at line 47 of file RotoTransNode.cpp.

◆ operator=()

void biorbd::utils::RotoTransNode::operator= ( const biorbd::utils::RotoTrans & other )

operator= Matrix multiplication

Returns: Rotated matrix

Definition at line 41 of file RotoTransNode.cpp.

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

Public Member Functions

Protected Member Functions

Additional Inherited Members