Description
template<class Real = double>
class chrono::ChCoordsys< Real >
Representation of a transform with translation and rotation.
A 'coordinate system' contains both translational variable (the origin of the axis) and rotational variable (the unit quaternion which represent the special-orthogonal transformation matrix). Basic features for point-coordinate transformations are provided.
See Coordinate Systems manual page.
#include <ChCoordsys.h>
Public Member Functions | |
| ChCoordsys () | |
| Default constructor (identity frame). | |
| ChCoordsys (const ChVector3< Real > &v, const ChQuaternion< Real > &q=ChQuaternion< Real >(1, 0, 0, 0)) | |
| Construct from position and rotation (as quaternion). | |
| ChCoordsys (const ChVector3< Real > &v, const Real alpha, const ChVector3< Real > &u) | |
| Construct from position v and rotation of angle alpha around unit vector u. | |
| ChCoordsys (const ChCoordsys< Real > &other) | |
| Copy constructor. | |
| template<typename Derived > | |
| ChCoordsys (const Eigen::MatrixBase< Derived > &vec, typename std::enable_if<(Derived::MaxRowsAtCompileTime==1||Derived::MaxColsAtCompileTime==1), Derived >::type *=0) | |
| Construct a coordinate system from an Eigen vector expression. | |
| template<typename Derived > | |
| ChCoordsys & | operator= (const Eigen::MatrixBase< Derived > &vec) |
| Assign an Eigen vector expression to this coordinate system. | |
| ChCoordsys< Real > & | operator= (const ChCoordsys< Real > &other) |
| Assignment operator: copy from another coordinate system. | |
| bool | operator<= (const ChCoordsys< Real > &other) const |
| bool | operator>= (const ChCoordsys< Real > &other) const |
| bool | operator== (const ChCoordsys< Real > &other) const |
| bool | operator!= (const ChCoordsys< Real > &other) const |
| ChCoordsys< Real > | operator>> (const ChCoordsys< Real > &F) const |
| Transform another coordinate system through this coordinate system. More... | |
| ChCoordsys< Real > | operator* (const ChCoordsys< Real > &F) const |
| Transform another coordinate system through this coordinate system. More... | |
| ChVector3< Real > | operator/ (const ChVector3< Real > &v) const |
| Transform a vector through this coordinate system (express from parent coordinate system). More... | |
| ChCoordsys< Real > & | operator>>= (const ChCoordsys< Real > &F) |
| Transform this coordinate system by pre-multiplication with another coordinate system. More... | |
| ChCoordsys< Real > & | operator*= (const ChCoordsys< Real > &F) |
| Transform this coordinate system by post-multiplication with another coordinate system. More... | |
| ChCoordsys< Real > & | operator>>= (const ChVector3< Real > &v) |
| Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement v. | |
| ChCoordsys< Real > & | operator>>= (const ChQuaternion< Real > &q) |
| Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by q. | |
| void | Force2D () |
| Force to z=0, and z rotation only. No normalization to quaternion, however. | |
| bool | Equals (const ChCoordsys< Real > &other) const |
| Return true if this coordinate system is identical to other coordsys. | |
| bool | Equals (const ChCoordsys< Real > &other, Real tol) const |
| Return true if thsi coordinate system is equal to other coordsys, within a tolerance 'tol'. | |
| void | SetIdentity () |
| Set to no translation and no rotation. | |
| void | ConcatenatePreTransformation (const ChCoordsys< Real > &F) |
| Apply a transformation (rotation and translation) represented by another coordinate system. More... | |
| void | ConcatenatePostTransformation (const ChCoordsys< Real > &F) |
| Apply a transformation (rotation and translation) represented by another coordinate system F in local coordinate. More... | |
| ChVector3< Real > | TransformPointLocalToParent (const ChVector3< Real > &v) const |
| Transform a point from the local coordinate system to the parent coordinate system. | |
| ChVector3< Real > | TransformPointParentToLocal (const ChVector3< Real > &v) const |
| Transforms a point from the parent coordinate system to local coordinate system. | |
| ChVector3< Real > | TransformDirectionLocalToParent (const ChVector3< Real > &d) const |
| Transform a direction from the parent coordinate system to 'this' local coordinate system. | |
| ChVector3< Real > | TransformDirectionParentToLocal (const ChVector3< Real > &d) const |
| Transforms a direction from 'this' local coordinate system to parent coordinate system. | |
| ChWrench< Real > | TransformWrenchLocalToParent (const ChWrench< Real > &w) const |
| Transform a wrench from the local coordinate system to the parent coordinate system. | |
| ChWrench< Real > | TransformWrenchParentToLocal (const ChWrench< Real > &w) const |
| Transform a wrench from the parent coordinate system to the local coordinate system. | |
| ChCoordsys< Real > | TransformLocalToParent (const ChCoordsys< Real > &F) const |
| Transform a coordinate system from 'this' local coordinate system to parent coordinate system. | |
| ChCoordsys< Real > | TransformParentToLocal (const ChCoordsys< Real > &F) const |
| Transform a coordinate system from the parent coordinate system to 'this' local coordinate system. | |
| void | ArchiveOut (ChArchiveOut &archive_out) |
| Method to allow serialization of transient data in archives. | |
| void | ArchiveIn (ChArchiveIn &archive_in) |
| Method to allow de-serialization of transient data from archives. | |
Public Attributes | |
| ChVector3< Real > | pos |
| ChQuaternion< Real > | rot |
Member Function Documentation
◆ ConcatenatePostTransformation()
|
inline |
Apply a transformation (rotation and translation) represented by another coordinate system F in local coordinate.
This is equivalent to post-multiply this coordinate system by the other coordinate system F: this'= this * F or this'= F >> this
◆ ConcatenatePreTransformation()
|
inline |
Apply a transformation (rotation and translation) represented by another coordinate system.
This is equivalent to pre-multiply this coordinate system by the other coordinate system F: this'= F * this or this' = this >> F
◆ operator*()
|
inline |
Transform another coordinate system through this coordinate system.
If A is this coordinate system and F another coordinate system expressed in A, then G = A * F is the coordinate system F expresssed in the parent coordinate system of A. For a sequence of transformations, i.e. a chain of coordinate systems, one can also write: G = F_1to0 * F_2to1 * F_3to2 * F; i.e., just like done with a sequence of Denavitt-Hartemberg matrix multiplications. This operation is not commutative.
◆ operator*=()
|
inline |
Transform this coordinate system by post-multiplication with another coordinate system.
If A is this csys, then A *= F means A' = A * F or A' = F >> A.
◆ operator/()
|
inline |
Transform a vector through this coordinate system (express from parent coordinate system).
If A is this coordinate system and v a vector expressed in the parent coordinate system of A, then w = A / v is the vector expressed in A. In other words, w = A * v implies v = A/w.
◆ operator>>()
|
inline |
Transform another coordinate system through this coordinate system.
If A is this coordinate system and F another coordinate system expressed in A, then G = F >> A is the coordinate system F expresssed in the parent coordinate system of A. For a sequence of transformations, i.e. a chain of coordinate systems, one can also write: G = F >> F_3to2 >> F_2to1 >> F_1to0; i.e., just like done with a sequence of Denavitt-Hartemberg matrix multiplications (but reverting order). This operation is not commutative.
◆ operator>>=()
|
inline |
Transform this coordinate system by pre-multiplication with another coordinate system.
If A is this frame, then A >>= F means A' = F * A or A' = A >> F.
The documentation for this class was generated from the following file:
- /builds/uwsbel/chrono/src/chrono/core/ChCoordsys.h
