vsr::cga::Frame Class Reference

Orthonormal Frame composed from a Position and Orientation. More...

#include <vsr_cga3D_frame.h>

Inheritance diagram for vsr::cga::Frame:

Public Types
using	space = typename conformal< 5 >::types

Public Member Functions
	Frame ()
	Default Constructor.
	Frame (VSR_PRECISION _x, VSR_PRECISION _y, VSR_PRECISION _z)
	Construct from x,y,z Coordinates.
	Frame (const Vec &v, const Rotor &r=Rot(1, 0, 0, 0), VSR_PRECISION s=1)
	Construct from Vec.
	Frame (const Point &p, const Rotor &r=Rot(1, 0, 0, 0), VSR_PRECISION s=1)
	Construct from Point, Rotor, and Scale.
	Frame (const DualLine &d)
	Construct from Dual Line (log of motor relative to origin)
	Frame (const Motor &m)
	Construct from Motor (relative to origin)
Frame &	set (Pnt p, Rot r=Rot(1, 0, 0, 0))
	Set Position and Orientation from Point and Rotor.
Frame &	scale (VSR_PRECISION s)
	Set Scale.
Frame &	reset ()
	Reset to Origin.
VSR_PRECISION	scale () const
	Get Scale.
VSR_PRECISION &	scale ()
Rotor	rot () const
	Get 4x4 Rotation Matrix. More...
Rotor	rotor () const
	Get Rotor.
Rot &	rot ()
	Get Rotor by reference.
Rot &	rotor ()
Frame &	rot (const Rot &r)
	Set rotor with rotor.
Frame &	rot (const Biv &B)
	Set rotor with bivector generator.
Rot	quat () const
	Transpose rotor to quaternionic representation.
Frame &	orient (const Vec &v, bool pos=true)
	Orient z axis towards coordinate v, keeping y axis as vertical as possible (uses projection) boolean parameter uses negative z (i.e. More...
Frame &	orient (const Vec &v, float amt, bool pos=true)
	Orient z axis towards coordinate v, by amt t, keeping y axis as vertical as possible (uses projection) boolean parameter uses negative z (i.e. More...
Frame &	orientX (const Vec &v, float amt, bool pos=true)
	Orient X axis towards coordinate v, by amt t, keeping y axis as vertical as possible (uses projection) boolean parameter uses negative z (i.e. More...
Rotor	relOrientRot (const Vec &v, bool pos=true)
	Rotor to Orient Current Orientation towards v Rotor to Orient Current Orientation towards v.
Biv	relOrientBiv (const Vec &v, bool pos=true)
	Get Bivector generator to Orient towards v.
Frame &	relOrient (const Vec &v, float t, bool pos=true)
	Relative Orientation by amt t.
Motor	relMotor (const Frame &target)
	Relative Motor to Take this to Frame f.
Frame &	relTwist (const Frame &target, float t)
	Relative twist towards frame f by amt t.
Frame &	relTwistAway (const Frame &target, float t)
	Relative twist away frome frame f by amt t.
Point	pos () const
	Get Position.
Point &	pos ()
	Get / Set Position by Reference.
Vec	vec () const
	Get Euclidean Vector of position.
Frame &	pos (const Vec &v)
	Set Postion from Vec v.
Frame &	pos (const Pnt &p)
	Set Position from Point p.
Frame &	pos (VSR_PRECISION _x, VSR_PRECISION _y, VSR_PRECISION _z)
	Set Position from x,y,z coordinates.
Vec	x () const
	Local x.
Vec	y () const
	Local y.
Vec	z () const
	Local z.
Point	posX () const
Point	negX () const
Point	posY () const
Point	negY () const
Point	posZ () const
Point	negZ () const
Biv	xy () const
	xz euclidean bivector
Biv	xz () const
	xy euclidean bivector
Biv	yz () const
	yz euclidean bivector
Lin	lx () const
	x direction direct line
Lin	ly () const
	y direction direct line
Lin	lz () const
	z direction direct line
Dll	dlx () const
	x direction dual line
Dll	dly () const
	y direction dual line
Dll	dlz () const
	z direction dual line
Dlp	dxz () const
	xz dual plane
Dlp	dxy () const
	xy dual plane
Dlp	dyz () const
	yz dual plane
Par	px () const
	x direction point pair around center
Par	py () const
	y direction point pair around center
Par	pz () const
	z direction point pair around center
Par	ipx () const
	x direction imaginary point pair around center
Par	ipy () const
	y direction imaginary point pair around center
Par	ipz () const
	z direction imaginary point pair around center
Par	tx () const
	Null Point Pair in local x direction.
Par	ty () const
	Null Point Pair in local y direction.
Par	tz () const
	Null Point Pair in local z direction.
Par	tx (VSR_PRECISION v) const
	Null Point Pair in local x direction.
Par	ty (VSR_PRECISION v) const
	Null Point Pair in local y direction.
Par	tz (VSR_PRECISION v) const
	Null Point Pair in local z direction.
Cir	cxy () const
	xy circle (real, direct)
Cir	cxz () const
	xz circle (real, direct)
Cir	cyz () const
	yz circle (real, direct)
Cir	icxy () const
	xy circle (imaginary, direct)
Cir	icxz () const
	xz circle (imaginary, direct)
Cir	icyz () const
	yz circle (imaginary, direct)
Vec	right () const
Vec	up () const
Vec	forward () const
Frame &	mot (const Mot &m)
	Set position and orientation by motor (absolute)
Trs	trs () const
	Generate Translation versor based on Position.
Mot	mot () const
	Get Absolute Motor Relative to Origin.
Motor	motor () const
	Get Absolute Motor Relative to Origin.
Dls	bound () const
	Dual Sphere Shell.
Dls	ibound () const
	Dual Imaginary Sphere Shell.
Dll	dll () const
	DualLine Representation of Pose.
DualLine	dualLine () const
VSR_PRECISION &	ab ()
	Set bivector accelerator (rotational)
VSR_PRECISION	ab () const
	Get bivector accelerator (rotational)
VSR_PRECISION &	ax ()
	Set vector accelerator.
VSR_PRECISION	ax () const
	Get vector accelerator.
Biv &	db ()
	Set bivector velocity (rotational)
Biv	db () const
	Get bivector velocity (rotational)
Vec &	dx ()
	Set vector velocity.
Vec	dx () const
	Get vector velocity.
Frame &	step ()
	Move and Spin.
Frame &	move ()
	Translation Step (translate by velocity vector)
Frame &	spin ()
	Spin Step (Local Rotation) */.
Frame &	dilate (double t)
	Dilate by t around center.
Frame &	dilate (const Point &p, double t)
	Dilate by t around some point p.
Frame	rotXY (VSR_PRECISION amt) const
	Rotate around local xy and return a new frame.
Frame &	move (VSR_PRECISION dx, VSR_PRECISION dy, VSR_PRECISION dz)
	Move by dx, dy, dz and return this.
Frame &	move (const Vec &v)
	Move by Vec.
Frame &	rotate (const Biv &b)
Frame &	rotate (const Rot &r)
	Rotate by Rot.
Frame &	twist (const Dll &)
	Twist by dualLine and return *this.
Frame &	twist (const Mot &)
	Twist by Motor and return *this.
Frame &	boost (const Par &)
	Boost by point pair and return *this.
Frame &	boost (const Bst &)
	Boost by bst and return *this.
Frame	moveX (VSR_PRECISION amt) const
Frame	moveY (VSR_PRECISION amt) const
Frame	moveZ (VSR_PRECISION amt) const

Protected Attributes
Point	mPos
	Position.
Rotor	mRot
	Orientation.
VSR_PRECISION	aBiv
	Rotational acceleration.
Biv	dBiv
	Rotational Velocity.
VSR_PRECISION	aVec
	Translational acceleration.
Vec	dVec
	Translational Velocity.
VSR_PRECISION	mScale
	Scale.

Detailed Description

Orthonormal Frame composed from a Position and Orientation.

3D position and orientation along with methods for extracting local geometry. (i.e. a circle on a local xy plane, or a line in the in local y axis)

Member Function Documentation

Frame& vsr::cga::Frame::orient	(	const Vec &	v,
		bool	pos = true
	)

Orient z axis towards coordinate v, keeping y axis as vertical as possible (uses projection) boolean parameter uses negative z (i.e.

for camera)

Frame& vsr::cga::Frame::orient	(	const Vec &	v,
		float	amt,
		bool	pos = true
	)

Orient z axis towards coordinate v, by amt t, keeping y axis as vertical as possible (uses projection) boolean parameter uses negative z (i.e.

for camera)

Frame& vsr::cga::Frame::orientX	(	const Vec &	v,
		float	amt,
		bool	pos = true
	)

Orient X axis towards coordinate v, by amt t, keeping y axis as vertical as possible (uses projection) boolean parameter uses negative z (i.e.

for camera)

Rotor vsr::cga::Frame::rot ( ) const

inline

Get 4x4 Rotation Matrix.

Get Rotor

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

• /Users/wolftype/code/versor/vsr/form/vsr_cga3D_frame.h