iolink::TransformMatrix4Factory Class Reference

Create matrices for 3D transforms. More...

#include <iolink/TransformMatrixFactory.h>

Static Public Member Functions
static Matrix4d	translation (const Vector3d &v)
	Create a translation matrix.
static Matrix4d	rotationEuler (const Vector3d &angles, const std::string &convention)
	Create a rotation matrix for a rotation using Euler angles.
static Matrix4d	rotationOnAxis (double angle, const Vector3d &axis)
	Create a rotation matrix for a rotation around an axis.
static Matrix4d	scaling (const Vector3d &v)
	Create a scaling matrix.

Detailed Description

Create matrices for 3D transforms.

Member Function Documentation

rotationEuler()

static Matrix4d iolink::TransformMatrix4Factory::rotationEuler ( const Vector3d &  angles, const std::string &  convention  )

static

Create a rotation matrix for a rotation using Euler angles.

The rotation is described by three Euler angles, chaining rotations, following a given convention.

The convention is decribed by a three-character-string, where each character describes the axis of rotation for the corresponding angle. A lowercase convention means that we are describing an extrinsic rotation, while an uppercase convention means that we are describing an intrinsic rotation. A mixed case convention is invalid.

Extrinsinc and intrinsinc conventions are the inverse of each other, so for example, intrinsinc convention "ZYX" is equivalent to the extrinsic convention "xyz".

Common conventions:

• "ZYX": Rotation around Z, then Y, then X.
• "ZXZ": Rotation around Z, then X, then Z.

Parameters

angles	The Euler angles of the rotation.
convention	The convention used for the rotation.

Returns

The rotation matrix.

Exceptions

InvalidArgument

If the convention is invalid.

rotationOnAxis()

static Matrix4d iolink::TransformMatrix4Factory::rotationOnAxis ( double  angle, const Vector3d &  axis  )

static

Create a rotation matrix for a rotation around an axis.

Rotation is done counter-clockwise, around the given axis.

Parameters

angle	The rotation angle.
axis	The axis around which the rotation is done, must be normalized.

Returns

The rotation matrix.

scaling()

static Matrix4d iolink::TransformMatrix4Factory::scaling ( const Vector3d &  v )

static

Create a scaling matrix.

Parameters

v	The scaling factors.

Returns

The scaling matrix.

translation()

static Matrix4d iolink::TransformMatrix4Factory::translation ( const Vector3d &  v )

static

Create a translation matrix.

Parameters

v	The vector used for the translation.

Returns

The translation matrix.

---

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

• iolink/public/include/iolink/TransformMatrixFactory.h