Class representing a transformation (translation and rotation) for the positional tracking module. More...

Functions
	Transform ()
	Default constructor. More...

	Transform (const Transform &motion)
	Copy constructor (deep copy). More...

	Transform (const Matrix4f &mat)
	Copy constructor (deep copy). More...

	Transform (const Rotation &rotation, const Translation &translation)
	Constructor from an sl::Rotation and a sl::Translation. More...

	Transform (const Orientation &orientation, const Translation &translation)
	Constructor from an sl::Orientation and a sl::Translation. More...

void	setRotationMatrix (const Rotation &rotation)
	Sets the rotation component of the current sl::Transform from an sl::Rotation. More...

Rotation	getRotationMatrix () const
	Returns the sl::Rotation corresponding to the current sl::Transform. More...

void	setTranslation (const Translation &translation)
	Sets the translation component of the current sl::Transform from an sl::Translation. More...

Translation	getTranslation () const
	Returns the sl::Translation corresponding to the current sl::Transform. More...

void	setOrientation (const Orientation &orientation)
	Sets the orientation component of the current sl::Transform from an sl::Orientation. More...

Orientation	getOrientation () const
	Returns the sl::Orientation corresponding to the current sl::Transform. More...

float3	getRotationVector () const
	Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula. More...

void	setRotationVector (const float3 &vec_rot)
	Sets the rotation component of the sl::Transform with a 3x1 rotation vector (using Rodrigues' transformation). More...

float3	getEulerAngles (bool radian=true) const
	Converts the rotation component of the sl::Transform into Euler angles. More...

void	setEulerAngles (const float3 &euler_angles, bool radian=true)
	Sets the rotation component of the sl::Transform from Euler angles. More...

Matrix4f	operator* (const Matrix4f &mat) const
	Gives the result of the multiplication between two sl::Matrix4f. More...

Matrix4f	operator* (const Vector4< float > &vect) const
	Gives the result of the multiplication between a sl::Matrix4f and a sl::float4. More...

Matrix4f	operator* (const float &scalar) const
	Gives the result of the multiplication between a sl::Matrix4f and a scalar. More...

Matrix4f	operator+ (const Matrix4f &mat) const
	Gives the result of the addition between two sl::Matrix4f. More...

Matrix4f	operator+ (const float &scalar) const
	Gives the result of the addition between a sl::Matrix4f and a scalar. More...

Matrix4f	operator- (const Matrix4f &mat) const
	Gives the result of the subtraction between two sl::Matrix4f. More...

Matrix4f	operator- (const float &scalar) const
	Gives the result of the subtraction between a sl::Matrix4f and a scalar. More...

bool	operator== (const Matrix4f &mat) const
	Tests two sl::Matrix4f equality. More...

bool	operator!= (const Matrix4f &mat) const
	Tests two sl::Matrix4f inequality. More...

float &	operator() (int const u, int const v)
	Gets access to a specific point in the sl::Matrix4f (read/write). More...

float	operator() (int const u, int const v) const
	Gets access to a specific point in the sl::Matrix4f (read). More...

ERROR_CODE	inverse ()
	Sets the sl::Matrix4f to its inverse. More...

void	transpose ()
	Sets the sl::Matrix4f to its transpose. More...

void	setIdentity ()
	Sets the sl::Matrix4f to identity. More...

void	setZeros ()
	Sets the sl::Matrix4f to zero. More...

ERROR_CODE	setSubMatrix3f (Matrix3f input, int row=0, int column=0)
	Sets a sl::Matrix3f inside the sl::Matrix4f. More...

ERROR_CODE	setSubVector3f (Vector3< float > input, int column=3)
	Sets a sl::Vector3 inside the sl::Matrix4f at the specified column index. More...

ERROR_CODE	setSubVector4f (Vector4< float > input, int column=3)
	Sets a sl::Vector4 inside the sl::Matrix4f at the specified column index. More...

String	getInfos ()
	Returns the components of the sl::Matrix4f in a sl::String. More...

Static Functions
static Matrix4f	inverse (const Matrix4f &mat)
	Creates the inverse of a sl::Matrix4f. More...

static Matrix4f	transpose (const Matrix4f &mat)
	Creates the transpose of a sl::Matrix4f. More...

static Matrix4f	identity ()
	Creates an identity sl::Matrix4f. More...

static Matrix4f	zeros ()
	Creates a sl::Matrix4f filled with zeros. More...

Attributes
String	matrix_name
	Name of the matrix (optional). More...

Detailed Description

Class representing a transformation (translation and rotation) for the positional tracking module.

It can be used to create any type of Matrix4x4 or sl::Matrix4f that must be specifically used for handling a rotation and position information (OpenGL, Tracking, etc.).
It inherits from the generic sl::Matrix4f class.

Constructor and Destructor

◆ Transform() [1/5]

Transform ( )

Default constructor.

◆ Transform() [2/5]

Transform ( const Transform & motion )

Copy constructor (deep copy).

Parameters

motion : sl::Transform to copy.

◆ Transform() [3/5]

Transform ( const Matrix4f & mat )

Copy constructor (deep copy).

Parameters

mat	: sl::Matrix4f to copy.

◆ Transform() [4/5]

Transform	(	const Rotation &	rotation,
		const Translation &	translation
	)

Constructor from an sl::Rotation and a sl::Translation.

Parameters

rotation	: sl::Rotation to copy.
translation	: sl::Translation to copy.

◆ Transform() [5/5]

Transform	(	const Orientation &	orientation,
		const Translation &	translation
	)

Constructor from an sl::Orientation and a sl::Translation.

Parameters

orientation	: sl::Orientation to copy.
translation	: sl::Translation to copy.

Functions

◆ setRotationMatrix()

void setRotationMatrix ( const Rotation & rotation )

Sets the rotation component of the current sl::Transform from an sl::Rotation.

Parameters

rotation : sl::Rotation to be used.

◆ getRotationMatrix()

Rotation getRotationMatrix ( ) const

Returns the sl::Rotation corresponding to the current sl::Transform.

Returns: sl::Rotation created from the sl::Transform values.

Warning: The given sl::Rotation contains a copy of the sl::Transform values. Not references.

◆ setTranslation()

void setTranslation ( const Translation & translation )

Sets the translation component of the current sl::Transform from an sl::Translation.

Parameters

translation : sl::Translation to be used.

◆ getTranslation()

Translation getTranslation ( ) const

Returns the sl::Translation corresponding to the current sl::Transform.

Returns: sl::Translation created from the sl::Transform values.

Warning: The given sl::Translation contains a copy of the sl::Transform values. Not references.

◆ setOrientation()

void setOrientation ( const Orientation & orientation )

Sets the orientation component of the current sl::Transform from an sl::Orientation.

Parameters

orientation : sl::Orientation to be used.

◆ getOrientation()

Orientation getOrientation ( ) const

Returns the sl::Orientation corresponding to the current sl::Transform.

Returns: sl::Orientation created from the sl::Transform values.

Warning: The given sl::Orientation contains a copy of the sl::Transform values.

◆ getRotationVector()

float3 getRotationVector ( ) const

Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula.

Returns: Rotation vector created from the sl::Transform values.

◆ setRotationVector()

void setRotationVector ( const float3 & vec_rot )

Sets the rotation component of the sl::Transform with a 3x1 rotation vector (using Rodrigues' transformation).

Parameters

vec_rot : Vector containing the rotation value for each axis (rx, ry, rz).

◆ getEulerAngles()

float3 getEulerAngles ( bool radian = true ) const

Converts the rotation component of the sl::Transform into Euler angles.

Parameters

radian : Whether the angle will be returned in radian or degree.

Returns: Euler angles created from the sl::Transform values as a sl::float3 representing the rotations around the X, Y and Z axes using YZX convention.

◆ setEulerAngles()

void setEulerAngles	(	const float3 &	euler_angles,
		bool	radian = `true`
	)

Sets the rotation component of the sl::Transform from Euler angles.

Parameters

euler_angles	: Euler angles (as a sl::float3) to update the sl::Transform.
radian	: Whether the angle is in radian or degree.

◆ operator*() [1/3]

Matrix4f operator* ( const Matrix4f & mat ) const

inherited

Gives the result of the multiplication between two sl::Matrix4f.

◆ operator*() [2/3]

Matrix4f operator* ( const Vector4< float > & vect ) const

inherited

Gives the result of the multiplication between a sl::Matrix4f and a sl::float4.

◆ operator*() [3/3]

Matrix4f operator* ( const float & scalar ) const

inherited

Gives the result of the multiplication between a sl::Matrix4f and a scalar.

◆ operator+() [1/2]

Matrix4f operator+ ( const Matrix4f & mat ) const

inherited

Gives the result of the addition between two sl::Matrix4f.

◆ operator+() [2/2]

Matrix4f operator+ ( const float & scalar ) const

inherited

Gives the result of the addition between a sl::Matrix4f and a scalar.

◆ operator-() [1/2]

Matrix4f operator- ( const Matrix4f & mat ) const

inherited

Gives the result of the subtraction between two sl::Matrix4f.

◆ operator-() [2/2]

Matrix4f operator- ( const float & scalar ) const

inherited

Gives the result of the subtraction between a sl::Matrix4f and a scalar.

◆ operator==()

bool operator== ( const Matrix4f & mat ) const

inherited

Tests two sl::Matrix4f equality.

◆ operator!=()

bool operator!= ( const Matrix4f & mat ) const

inherited

Tests two sl::Matrix4f inequality.

◆ operator()() [1/2]

float& operator()	(	int const	u,
		int const	v
	)

inherited

Gets access to a specific point in the sl::Matrix4f (read/write).

Parameters

u	: Row to get the value from.
v	: Column to get the value from.

Returns: The value at the u, v coordinates.

◆ operator()() [2/2]

float operator()	(	int const	u,
		int const	v
	)		const

inherited

Gets access to a specific point in the sl::Matrix4f (read).

Parameters

u	: Row to get the value from.
v	: Column to get the value from.

Returns: The value at the u, v coordinates.

◆ inverse() [1/2]

ERROR_CODE inverse ( )

inherited

Sets the sl::Matrix4f to its inverse.

Returns: sl::ERROR_CODE::SUCCESS if the inverse has been computed, sl::ERROR_CODE::FAILURE is not (det = 0).

◆ inverse() [2/2]

static Matrix4f inverse ( const Matrix4f & mat )

staticinherited

Creates the inverse of a sl::Matrix4f.

Parameters

mat	: sl::Matrix4f to compute the inverse from.

Returns: The inverse of the sl::Matrix4f given as input.

◆ transpose() [1/2]

void transpose ( )

inherited

Sets the sl::Matrix4f to its transpose.

◆ transpose() [2/2]

static Matrix4f transpose ( const Matrix4f & mat )

staticinherited

Creates the transpose of a sl::Matrix4f.

Parameters

mat	: sl::Matrix4f to compute the transpose from.

Returns: The transpose of the sl::Matrix4f given as input.

◆ setIdentity()

void setIdentity ( )

inherited

Sets the sl::Matrix4f to identity.

◆ identity()

static Matrix4f identity ( )

staticinherited

Creates an identity sl::Matrix4f.

Returns: A sl::Matrix4f set to identity.

◆ setZeros()

void setZeros ( )

inherited

Sets the sl::Matrix4f to zero.

◆ zeros()

static Matrix4f zeros ( )

staticinherited

Creates a sl::Matrix4f filled with zeros.

Returns: A sl::Matrix4f filled with zero.

◆ setSubMatrix3f()

ERROR_CODE setSubMatrix3f	(	Matrix3f	input,
		int	row = `0`,
		int	column = `0`
	)

inherited

Sets a sl::Matrix3f inside the sl::Matrix4f.

Note: Can be used to set the rotation matrix when the sl::Matrix4f is a pose or an isometric matrix.

Parameters

input	: Sub-matrix to put inside the sl::Matrix4f.
row	: Index of the row to start the 3x3 block. Must be 0 or 1.
column	: Index of the column to start the 3x3 block. Must be 0 or 1.

Returns: sl::ERROR_CODE::SUCCESS if everything went well, sl::ERROR_CODE::FAILURE otherwise.

◆ setSubVector3f()

ERROR_CODE setSubVector3f	(	Vector3< float >	input,
		int	column = `3`
	)

inherited

Sets a sl::Vector3 inside the sl::Matrix4f at the specified column index.

Note: Can be used to set the translation/position matrix when the sl::Matrix4f is a pose or an isometry.

Parameters

input	: Sub-vector to put inside the sl::Matrix4f.
column	: Index of the column to start the 3x3 block. By default, it is the last column (translation for a sl::Pose).

Returns: sl::ERROR_CODE::SUCCESS if everything went well, sl::ERROR_CODE::FAILURE otherwise.

◆ setSubVector4f()

ERROR_CODE setSubVector4f	(	Vector4< float >	input,
		int	column = `3`
	)

inherited

Sets a sl::Vector4 inside the sl::Matrix4f at the specified column index.

Note: Can be used to set the translation/position matrix when the sl::Matrix4f is a pose or an isometry.

Parameters

input	: Sub-vector to put inside the sl::Matrix4f.
column	: Index of the column to start the 3x3 block. By default, it is the last column (translation for a sl::Pose).

Returns: sl::ERROR_CODE::SUCCESS if everything went well, sl::ERROR_CODE::FAILURE otherwise.

◆ getInfos()

String getInfos ( )

inherited

Returns the components of the sl::Matrix4f in a sl::String.

Returns: A sl::String containing the components of the current sl::Matrix4f.

Variables

◆ matrix_name

String matrix_name

inherited

Name of the matrix (optional).

Functions

Static Functions

Attributes

Detailed Description

Constructor and Destructor

◆ Transform() [1/5]

◆ Transform() [2/5]

◆ Transform() [3/5]

◆ Transform() [4/5]

◆ Transform() [5/5]

Functions

◆ setRotationMatrix()

◆ getRotationMatrix()

◆ setTranslation()

◆ getTranslation()

◆ setOrientation()

◆ getOrientation()

◆ getRotationVector()

◆ setRotationVector()

◆ getEulerAngles()

◆ setEulerAngles()

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator==()

◆ operator!=()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ inverse() [1/2]

◆ inverse() [2/2]

◆ transpose() [1/2]

◆ transpose() [2/2]

◆ setIdentity()

◆ identity()

◆ setZeros()

◆ zeros()

◆ setSubMatrix3f()

◆ setSubVector3f()

◆ setSubVector4f()

◆ getInfos()

Variables

◆ matrix_name