##

NodeTransform Class Reference
Common

\clas NodeTransform Skeleton.hh common/common.hh More...

`#include <Skeleton.hh>`

## Public Types

enum | TransformType { TRANSLATE, ROTATE, SCALE, MATRIX }
| Enumeration of the transform types. More...

## Public Member Functions

| NodeTransform (const ignition::math::Matrix4d &_mat, const std::string &_sid="_default_", TransformType _type=MATRIX)
| Constructor. More...
| NodeTransform (TransformType _type=MATRIX)
| Constructor. More...
| ~NodeTransform ()
| Destructor. It does nothing. More...
std::string | GetSID ()
| Returns thr SID. More...
ignition::math::Matrix4d | GetTransform () const
| Returns the transformation matrix. More...
TransformType | GetType ()
| Returns the transformation type. More...
ignition::math::Matrix4d | operator() ()
| Matrix cast operator. More...
ignition::math::Matrix4d | operator* (const ignition::math::Matrix4d &_m)
| Matrix multiplication operator. More...
ignition::math::Matrix4d | operator* (NodeTransform _t)
| Node transform multiplication operator. More...
void | PrintSource ()
| Prints the transform matrix to std::err stream. More...
void | RecalculateMatrix ()
| Sets the transform matrix from the source according to the type. More...
void | Set (const ignition::math::Matrix4d &_mat)
| Assign a transformation. More...
void | SetComponent (unsigned int _idx, double _value)
| Set a transformation matrix component value. More...
void | SetSID (std::string _sid)
| Set the SID. More...
void | SetSourceValues (const ignition::math::Matrix4d &_mat)
| Set source data values param[in] _mat the values. More...
void | SetSourceValues (const ignition::math::Vector3d &_axis, const double _angle)
| Sets source matrix values from roation. More...
void | SetSourceValues (const ignition::math::Vector3d &_vec)
| Set source data values. More...
void | SetType (TransformType _type)
| Set transform type. More...

## Protected Attributes

std::string | sid
| the sid More...
std::vector< double > | source
| source data values (can be a matrix, a position or rotation) More...
ignition::math::Matrix4d | transform
| transform More...
TransformType | type
| transform type More...

## Detailed Description

\clas NodeTransform Skeleton.hh common/common.hh

A transformation node

## Member Enumeration Documentation

## TransformType

enum TransformType

Enumeration of the transform types.

Enumerator
TRANSLATE |
ROTATE |
SCALE |
MATRIX |

## Constructor & Destructor Documentation

## NodeTransform() [1/2]

NodeTransform | ( | TransformType | _type = `MATRIX` | ) |

explicit

Constructor.

Parameters

  [in] | _type | the type of transform

## NodeTransform() [2/2]

NodeTransform | ( | const ignition::math::Matrix4d & | _mat,
|  | const std::string & | _sid = `"_default_"`,
|  | TransformType | _type = `MATRIX`
| ) |  |

Constructor.

Parameters

  [in] | _mat | the matrix
  [in] | _sid | identifier
  [in] | _type | the type of transform

## ~NodeTransform()

~NodeTransform | ( |  | ) |

Destructor. It does nothing.

## Member Function Documentation

## GetSID()

std::string GetSID | ( |  | ) |

Returns thr SID.

Returns
  the SID

## GetTransform()

ignition::math::Matrix4d GetTransform | ( |  | ) | const

Returns the transformation matrix.

Returns
  The transform matrix

## GetType()

TransformType GetType | ( |  | ) |

Returns the transformation type.

Returns
  the type

## operator()()

ignition::math::Matrix4d operator() | ( |  | ) |

Matrix cast operator.

Returns
  the transform

## operator*() [1/2]

ignition::math::Matrix4d operator* | ( | const ignition::math::Matrix4d & | _m | ) |

Matrix multiplication operator.

Parameters

  [in] | _m | a matrix

Returns
  transform matrix multiplied by _m

## operator*() [2/2]

ignition::math::Matrix4d operator* | ( | NodeTransform | _t | ) |

Node transform multiplication operator.

Parameters

  [in] | _t | a transform

Returns
  transform matrix multiplied by _t's transform

## PrintSource()

void PrintSource | ( |  | ) |

Prints the transform matrix to std::err stream.

## RecalculateMatrix()

void RecalculateMatrix | ( |  | ) |

Sets the transform matrix from the source according to the type.

## Set()

void Set | ( | const ignition::math::Matrix4d & | _mat | ) |

Assign a transformation.

Parameters

  [in] | _mat | the transform

## SetComponent()

void SetComponent | ( | unsigned int | _idx,
|  | double | _value
| ) |  |

Set a transformation matrix component value.

Parameters

  [in] | _idx | the component index
  [in] | _value | the value

## SetSID()

void SetSID | ( | std::string | _sid | ) |

Set the SID.

Parameters

  [in] | _sid | the sid

## SetSourceValues() [1/3]

void SetSourceValues | ( | const ignition::math::Matrix4d & | _mat | ) |

Set source data values param[in] _mat the values.

## SetSourceValues() [2/3]

void SetSourceValues | ( | const ignition::math::Vector3d & | _axis,
|  | const double | _angle
| ) |  |

Sets source matrix values from roation.

Parameters

  [in] | _axis | of rotation
  [in] | _angle | of rotation

## SetSourceValues() [3/3]

void SetSourceValues | ( | const ignition::math::Vector3d & | _vec | ) |

Set source data values.

Parameters

  [in] | _vec | Vector to set source data values from.

## SetType()

void SetType | ( | TransformType | _type | ) |

Set transform type.

Parameters

  [in] | _type | the type

## Member Data Documentation

## sid

std::string sid

protected

the sid

## source

std::vector<double> source

protected

source data values (can be a matrix, a position or rotation)

## transform

ignition::math::Matrix4d transform

protected

transform

## type

TransformType type

protected

transform type

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

- Skeleton.hh