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versor
3.0
C++11 library for Geometric algebra
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|
versor
3.0
C++11 library for Geometric algebra
|
Public Types | |
| enum | Type { REVOLUTE, PRISMATIC, CYLINDRICAL, HELICAL, PLANAR, SPHERICAL } |
 Public Types inherited from vsr::cga::Frame | |
| using | space = typename conformal< 5 >::types |
Public Member Functions | |
| Joint (Type t=Joint::SPHERICAL, const Frame &f=Frame()) | |
| virtual Frame | operator() () const =0 |
| Public Member Functions inherited from vsr::cga::Frame | |
| 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 |
Public Attributes | |
| Type | type |
Additional Inherited Members | |
| Protected Attributes inherited from vsr::cga::Frame | |
| 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. | |
1.8.10
