Transformation between 2 spatial coordinate systems. More...

#include <vcsl_spatial_transformation.h>

Inheritance diagram for vcsl_spatial_transformation:

Public Member Functions
	vcsl_spatial_transformation (vcsl_spatial_transformation const &x)
virtual	~vcsl_spatial_transformation ()
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 ?.
virtual bool	is_invertible (double time) const =0
	Is `this' invertible at time `time'?.
virtual bool	is_valid () const
	Is `this' correctly set ?.
int	matching_interval (double time) const
	Return the index of the beat inferior or equal to `time'.
virtual vnl_vector< double >	execute (const vnl_vector< double > &v, double time) const =0
	Image of `v' by `this'.
virtual vnl_vector< double >	inverse (const vnl_vector< double > &v, double time) const =0
	Image of `v' by the inverse of `this'.
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
	vcsl_spatial_transformation ()
Protected Attributes
vcl_vector< double >	beat_
	List of time clocks.
vcl_vector< vcsl_interpolator >	interpolator_

Detailed Description

Transformation between 2 spatial coordinate systems.

A spatial transformation can be static or dynamic

Definition at line 39 of file vcsl_spatial_transformation.h.

Constructor & Destructor Documentation

vcsl_spatial_transformation::vcsl_spatial_transformation ( ) [inline, protected]

Definition at line 47 of file vcsl_spatial_transformation.h.

vcsl_spatial_transformation::vcsl_spatial_transformation ( vcsl_spatial_transformation const & x ) [inline]

Definition at line 51 of file vcsl_spatial_transformation.h.

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

Definition at line 55 of file vcsl_spatial_transformation.h.

Member Function Documentation

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

Return the list of time clocks.

Definition at line 62 of file vcsl_spatial_transformation.h.

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

Return the time duration.

Definition at line 65 of file vcsl_spatial_transformation.h.

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

Image of `v' by `this'.

REQUIRE: is_valid()

Implemented in vcsl_rotation, vcsl_perspective, vcsl_translation, vcsl_scale, vcsl_composition, vcsl_displacement, vcsl_matrix, and vcsl_cylindrical_to_cartesian_3d.

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

Return the list of interpolators.

Definition at line 68 of file vcsl_spatial_transformation.h.

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

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

REQUIRE: is_invertible(time) REQUIRE: is_valid()

Implemented in vcsl_rotation, vcsl_perspective, vcsl_translation, vcsl_scale, vcsl_composition, vcsl_displacement, vcsl_matrix, and vcsl_cylindrical_to_cartesian_3d.

virtual bool vcsl_spatial_transformation::is_invertible ( double time ) const [pure virtual]

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

REQUIRE: valid_time(time)

Implemented in vcsl_perspective, vcsl_rotation, vcsl_matrix, vcsl_composition, vcsl_translation, vcsl_scale, and vcsl_cylindrical_to_cartesian_3d.

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

Is `this' correctly set ?.

Reimplemented in vcsl_perspective, vcsl_rotation, vcsl_matrix, vcsl_composition, vcsl_translation, vcsl_scale, vcsl_cylindrical_to_cartesian_3d, and vcsl_displacement.

Definition at line 78 of file vcsl_spatial_transformation.h.

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

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