Rotation transformation (either 2D or 3D). More...

#include <vcsl_rotation.h>

Inheritance diagram for vcsl_rotation:

Public Member Functions
	vcsl_rotation ()
	Default constructor. Sets 3D rotation mode.
virtual	~vcsl_rotation ()
virtual bool	is_invertible (double) const
	Is `this' invertible at time `time'?.
virtual bool	is_valid () const
	Is `this' correctly set ?.
bool	are_unit_axes (list_of_vectors const &new_axis) const
	Are `new_vector' a list of unit vectors ?.
bool	is_2d () const
	Is `this' a 2D rotation ?.
bool	is_3d () const
	Is `this' a 3D rotation ?.
void	set_2d ()
	Set `this' as a 2D rotation.
void	set_3d ()
	Set `this' as a 3D rotation.
void	set_static_2d (double new_angle)
	Set the parameters of a static 2D rotation.
void	set_static (double new_angle, vnl_vector< double > const &new_axis)
	Set the parameters of a static rotation.
void	set_angle (list_of_scalars const &new_angle)
	Set the angle variation along the time in radians.
list_of_scalars	angle () const
	Return the angle variation along the time in radians.
void	set_axis (list_of_vectors const &new_axis)
	Set the direction vector variation along the time.
list_of_vectors	axis () const
	Return the direction variation along the time.
virtual vnl_vector< double >	execute (const vnl_vector< double > &v, double time) const
	Image of `v' by `this'.
virtual vnl_vector< double >	inverse (const vnl_vector< double > &v, double time) const
	Image of `v' by the inverse of `this'.
vcl_vector< double >	beat () const
	Return the list of time clocks.
unsigned int	duration () const
	Return the time duration.
vcl_vector< vcsl_interpolator >	interpolators () const
	Return the list of interpolators.
bool	valid_time (double time) const
	Is `time' between the two time bounds ?.
int	matching_interval (double time) const
	Return the index of the beat inferior or equal to `time'.
void	set_beat (vcl_vector< double > const &new_beat)
	Set the list of time clocks.
void	set_interpolators (vcl_vector< vcsl_interpolator > const &i)
	Set the list of interpolators.
void	set_static ()
	Empty the time clock and interpolators, thereby making the transf static.
double	lsi (double v0, double v1, int index, double time) const
	Linear interpolation on scalar values.
vnl_vector< double >	lvi (const vnl_vector< double > &v0, const vnl_vector< double > &v1, int index, double time) const
	Linear interpolation on vnl_vectors.
vnl_matrix< double >	lmi (const vnl_matrix< double > &m0, const vnl_matrix< double > &m1, int index, double time) const
	Linear interpolation on vnl_matrices.
vnl_quaternion< double >	lqi (const vnl_quaternion< double > &v0, const vnl_quaternion< double > &v1, int index, double time) const
	Linear interpolation on quaternions.
void	ref ()
void	unref ()
int	get_references () const
bool	is_referenced () const
Protected Member Functions
vnl_quaternion< double >	quaternion (double time) const
	Compute the value of the quaternion at time `time'.
Protected Attributes
bool	mode_2d_
	False if `this' is a 3D rotation, true if `this' is a 2D rotation.
list_of_scalars	angle_
	Angle variation along the time in radians.
list_of_vectors	axis_
	Direction vector variation along the time.
vcl_vector< double >	beat_
	List of time clocks.
vcl_vector< vcsl_interpolator >	interpolator_

Detailed Description

Rotation transformation (either 2D or 3D).

A rotation rotates a point around an axis passing through the origin. For a more general rotation (affine rotation or displacement), see the derived class vcsl_displacement

Definition at line 26 of file vcsl_rotation.h.

Constructor & Destructor Documentation

vcsl_rotation::vcsl_rotation ( ) [inline]

Default constructor. Sets 3D rotation mode.

Definition at line 35 of file vcsl_rotation.h.

virtual vcsl_rotation::~vcsl_rotation ( ) [inline, virtual]

Definition at line 38 of file vcsl_rotation.h.

Member Function Documentation

list_of_scalars vcsl_rotation::angle ( ) const [inline]

Return the angle variation along the time in radians.

Definition at line 89 of file vcsl_rotation.h.

bool vcsl_rotation::are_unit_axes ( list_of_vectors const & new_axis ) const

Are `new_vector' a list of unit vectors ?.

Definition at line 8 of file vcsl_rotation.cxx.

list_of_vectors vcsl_rotation::axis ( ) const [inline]

Return the direction variation along the time.

Definition at line 96 of file vcsl_rotation.h.

vcl_vector<double> vcsl_spatial_transformation::beat ( ) const [inline, inherited]

Return the list of time clocks.

Definition at line 62 of file vcsl_spatial_transformation.h.

unsigned int vcsl_spatial_transformation::duration ( ) const [inline, inherited]

Return the time duration.

Definition at line 65 of file vcsl_spatial_transformation.h.

vnl_vector< double > vcsl_rotation::execute	(	const vnl_vector< double > &	v,
		double	time
	)		const `[virtual]`

Image of `v' by `this'.

REQUIRE: is_valid() REQUIRE: (is_2d()&&v.size()==2)||(is_3d()&&v.size()==3) Pure virtual function of vcsl_spatial_transformation

Implements vcsl_spatial_transformation.

Reimplemented in vcsl_displacement.

Definition at line 60 of file vcsl_rotation.cxx.

vcl_vector<vcsl_interpolator> vcsl_spatial_transformation::interpolators ( ) const [inline, inherited]

Return the list of interpolators.

Definition at line 68 of file vcsl_spatial_transformation.h.

vnl_vector< double > vcsl_rotation::inverse	(	const vnl_vector< double > &	v,
		double	time
	)		const `[virtual]`

Image of `v' by the inverse of `this'.

REQUIRE: is_valid() REQUIRE: is_invertible(time) REQUIRE (is_2d()&&v.size()==2)||(is_3d()&&v.size()==3) Pure virtual function of vcsl_spatial_transformation

Implements vcsl_spatial_transformation.

Reimplemented in vcsl_displacement.

Definition at line 90 of file vcsl_rotation.cxx.

bool vcsl_rotation::is_2d ( ) const [inline]

Is `this' a 2D rotation ?.

Definition at line 60 of file vcsl_rotation.h.

bool vcsl_rotation::is_3d ( ) const [inline]

Is `this' a 3D rotation ?.

Definition at line 63 of file vcsl_rotation.h.

virtual bool vcsl_rotation::is_invertible ( double ) const [inline, virtual]

Is `this' invertible at time `time'?.

REQUIRE: valid_time(time) Pure virtual function of vcsl_spatial_transformation

Implements vcsl_spatial_transformation.

Definition at line 47 of file vcsl_rotation.h.

virtual bool vcsl_rotation::is_valid ( ) const [inline, virtual]

Is `this' correctly set ?.

Virtual function of vcsl_spatial_transformation

Reimplemented from vcsl_spatial_transformation.

Reimplemented in vcsl_displacement.

Definition at line 51 of file vcsl_rotation.h.

vnl_matrix< double > vcsl_spatial_transformation::lmi	(	const vnl_matrix< double > &	m0,
		const vnl_matrix< double > &	m1,
		int	index,
		double	time
	)		const `[inherited]`

Linear interpolation on vnl_matrices.

Definition at line 91 of file vcsl_spatial_transformation.cxx.

vnl_quaternion< double > vcsl_spatial_transformation::lqi	(	const vnl_quaternion< double > &	v0,
		const vnl_quaternion< double > &	v1,
		int	index,
		double	time
	)		const `[inherited]`

Linear interpolation on quaternions.

Definition at line 118 of file vcsl_spatial_transformation.cxx.

double vcsl_spatial_transformation::lsi	(	double	v0,
		double	v1,
		int	index,
		double	time
	)		const `[inherited]`

Linear interpolation on scalar values.

Definition at line 50 of file vcsl_spatial_transformation.cxx.

vnl_vector< double > vcsl_spatial_transformation::lvi	(	const vnl_vector< double > &	v0,
		const vnl_vector< double > &	v1,
		int	index,
		double	time
	)		const `[inherited]`