Frame2 Class Reference

Solid transformations in the plane. More...

#include <frame.h>

Inheritance diagram for Frame2:

Public Member Functions
	Frame2 (const Matrix2 &=Matrix2::Identity, const Vector2 &=Vector2::Null)
	Creates a frame given a rotation matrix and a translation vector. More...
	Frame2 (const Vector2 &, const Vector2 &, const Vector2 &)
	Creates a frame given the origin and its orthogonal unit vectors. More...
	~Frame2 ()
	Empty.
Matrix2	R () const
	Returns the rotation matrix of the frame.
Vector2	T () const
	Returns the translation vector of the frame.
Vector2	GetVector (int) const
	Returns the i-th basis vector of the frame. More...
void	Compose (const Frame2 &)
	Compose the frame with another one. More...
Frame2	Composed (const Frame2 &) const
	Compose the frame with another one. More...
Frame2	Inverse () const
	Compute the inverse transformation.
Vector2	Transform (const Vector2 &) const
	Transform a point out of the frame coordinate system. More...
Vector2	InverseTransform (const Vector2 &) const
	Transform a point into the frame coordinate system. More...
Vector2	TransformDirection (const Vector2 &) const
	Transform a direction vector out of the frame coordinate system. More...
Vector2	InverseTransformDirection (const Vector2 &) const
	Transform a direction vector into the frame coordinate system.

Static Public Member Functions
static Frame2	Translation (const Vector2 &)
	Creates a translation transformation. More...
static Frame2	Rotation (const double &)
	Create a rotation frame about an arbitrary axis. More...

Static Public Attributes
static const Frame2	Id
	Identity.

Protected Attributes
Matrix2	r
	Rotation matrix.
Vector2	t
	Translation vector.

Friends
std::ostream &	operator<< (std::ostream &, const Frame2 &)
	Overloaded. More...

Detailed Description

Solid transformations in the plane.

See also

Frame

Constructor & Destructor Documentation

Frame2() [1/2]

Frame2::Frame2 ( const Matrix2 &  r = Matrix2::Identity, const Vector2 &  t = Vector2::Null  )

explicit

Creates a frame given a rotation matrix and a translation vector.

Parameters

r	Frame matrix.
t	Translation vector.

Frame2() [2/2]

Frame2::Frame2 ( const Vector2 &  c, const Vector2 &  x, const Vector2 &  y  )

explicit

Creates a frame given the origin and its orthogonal unit vectors.

Parameters

c	Origin.
x,y	Orthonormal vectors.

Member Function Documentation

Compose()

void Frame2::Compose

(

const Frame2 &

frame

)

Compose the frame with another one.

Parameters

frame

The frame.

Composed()

Frame2 Frame2::Composed

(

const Frame2 &

frame

)

const

Compose the frame with another one.

Parameters

frame

The frame.

GetVector()

Vector2 Frame2::GetVector ( int  i ) const

inline

Returns the i-th basis vector of the frame.

This is a convenience function, which is the same as:

Frame frame;
Vector y=frame.R().C(1); // Get rotation matrix, and then column vector.

Parameters

i	Column index.

InverseTransform()

Vector2 Frame2::InverseTransform ( const Vector2 &  p ) const

inline

Transform a point into the frame coordinate system.

Parameters

p

Point.

Rotation()

Frame2 Frame2::Rotation ( const double &  angle )

static

Create a rotation frame about an arbitrary axis.

Parameters

angle

Angle (should be in radian).

Transform()

Vector2 Frame2::Transform ( const Vector2 &  p ) const

inline

Transform a point out of the frame coordinate system.

Parameters

p

Point.

TransformDirection()

Vector2 Frame2::TransformDirection ( const Vector2 &  n ) const

inline

Transform a direction vector out of the frame coordinate system.

Parameters

n

Vector.

Translation()

Frame2 Frame2::Translation ( const Vector2 &  t )

static

Creates a translation transformation.

Matrix is identity whereas the translation vector is computed from the argument vector.

Parameters

t	Translation vector.

Friends And Related Function Documentation

operator<<

std::ostream & operator<< ( std::ostream &  s, const Frame2 &  frame  )

friend

Overloaded.

Parameters

s	Stream.
frame	The frame.