ScaledRigidTransformer3d (Artisynth API documentation)

java.lang.Object
- maspack.geometry.ScaledRigidTransformer3d

All Implemented Interfaces:

VectorTransformer3d
```
public class ScaledRigidTransformer3d
extends java.lang.Object
implements VectorTransformer3d
```
Implements an affine transformation defined in homogeneous coordinates by
```
  [  R S  p ]
  [         ]
  [   0   1 ]
 
```
where R is a 3x3 rotation, S is a diagonal scaling matrix, and p is a translation offset.

Constructor Summary

Constructors
Constructor and Description
`ScaledRigidTransformer3d(Vector3d scaling, RigidTransform3d T)`
`ScaledRigidTransformer3d(Vector3d scaling, RotationMatrix3d R, Vector3d origin)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`ScaledRigidTransformer3d`	`copy()` Creates and returns a copy of this transformer.
`void`	`getOrigin(Vector3d p)`
`void`	`getRigidTransform(RigidTransform3d T)`
`void`	`getRotation(RotationMatrix3d R)`
`void`	`getScaling(Vector3d scaling)`
`void`	`inverseTransformCovec(Vector3d nr, Vector3d n0)` Applies an inverse transform to covector `c0` and places the result in `cr`.
`void`	`inverseTransformPnt(Vector3d pr, Vector3d p0)` Applies an inverse transform to point `p0` and places the result in `pr`.
`void`	`inverseTransformVec(Vector3d vr, Vector3d v0)` Applies an inverse transform to vector `v0` and places the result in `vr`.
`boolean`	`isAffine()` Returns `true` if this transformer implements a linear affine transform.
`boolean`	`isRigid()` Returns `true` if this transformer implements a linear rigid transform.
`void`	`scaleDistance(double s)` Scale the distance units associated with this transformer.
`void`	`set(Vector3d scaling, RotationMatrix3d R, Vector3d p)`
`java.lang.String`	`toString(java.lang.String fmtStr)` Returns a string representation of this transformer.
`void`	`transformCovec(Vector3d nr, Vector3d n0)` Transforms a covector `c0` and places the result in `cr`.
`void`	`transformPnt(Vector3d pr, Vector3d p0)` Transforms point `p0` and places the result in `pr`.
`void`	`transformVec(Vector3d vr, Vector3d v0)` Transforms vector `v0` and places the result in `vr`.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - ScaledRigidTransformer3d
```
public ScaledRigidTransformer3d(Vector3d scaling,
                                RigidTransform3d T)
```
  - ScaledRigidTransformer3d
```
public ScaledRigidTransformer3d(Vector3d scaling,
                                RotationMatrix3d R,
                                Vector3d origin)
```
- Method Detail
  - set
```
public void set(Vector3d scaling,
                RotationMatrix3d R,
                Vector3d p)
```
  - getScaling
```
public void getScaling(Vector3d scaling)
```
  - getOrigin
```
public void getOrigin(Vector3d p)
```
  - getRotation
```
public void getRotation(RotationMatrix3d R)
```
  - getRigidTransform
```
public void getRigidTransform(RigidTransform3d T)
```
  - transformPnt
```
public void transformPnt(Vector3d pr,
                         Vector3d p0)
```
    Transforms point p0 and places the result in pr.
    
    Specified by:
    
    transformPnt in interface VectorTransformer3d
    
    Parameters:
    
    pr - returns the transformed point
    
    p0 - point to be transformed
  - transformVec
```
public void transformVec(Vector3d vr,
                         Vector3d v0)
```
    Transforms vector v0 and places the result in vr.
    
    Specified by:
    
    transformVec in interface VectorTransformer3d
    
    Parameters:
    
    vr - returns the transformed vector
    
    v0 - vector to be transformed
  - transformCovec
```
public void transformCovec(Vector3d nr,
                           Vector3d n0)
```
    Transforms a covector c0 and places the result in cr. If a vector is transformed linearly according to
```
   vr = A v0,
 
```
    then the covector will be transformed according to
```
         -1 T 
   cr = A     c0,
 
```
    Normal vectors and gradients are generally transformed as covectors. In the case of normals, the application will need to normalize the result if this transformation is not rigid.
    Specified by:
    
    transformCovec in interface VectorTransformer3d
    
    Parameters:
    
    nr - returns the transformed covector
    
    n0 - normal to be transformed
  - inverseTransformPnt
```
public void inverseTransformPnt(Vector3d pr,
                                Vector3d p0)
```
    Applies an inverse transform to point p0 and places the result in pr.
    
    Specified by:
    
    inverseTransformPnt in interface VectorTransformer3d
    
    Parameters:
    
    pr - returns the transformed point
    
    p0 - point to be transformed
  - inverseTransformVec
```
public void inverseTransformVec(Vector3d vr,
                                Vector3d v0)
```
    Applies an inverse transform to vector v0 and places the result in vr.
    
    Specified by:
    
    inverseTransformVec in interface VectorTransformer3d
    
    Parameters:
    
    vr - returns the transformed vector
    
    v0 - vector to be transformed
  - inverseTransformCovec
```
public void inverseTransformCovec(Vector3d nr,
                                  Vector3d n0)
```
    Applies an inverse transform to covector c0 and places the result in cr. See VectorTransformer3d.transformCovec(maspack.matrix.Vector3d, maspack.matrix.Vector3d) for more details about covector transformation.
    
    Specified by:
    
    inverseTransformCovec in interface VectorTransformer3d
    
    Parameters:
    
    nr - returns the transformed normal
    
    n0 - normal to be transformed
  - isAffine
```
public boolean isAffine()
```
    Returns true if this transformer implements a linear affine transform.
    
    Specified by:
    
    isAffine in interface VectorTransformer3d
  - isRigid
```
public boolean isRigid()
```
    Returns true if this transformer implements a linear rigid transform.
    
    Specified by:
    
    isRigid in interface VectorTransformer3d
  - scaleDistance
```
public void scaleDistance(double s)
```
    Scale the distance units associated with this transformer. This is done by scaling both the scaling factors and the origin by s.
    
    Parameters:
    
    s - scaling factor
  - copy
```
public ScaledRigidTransformer3d copy()
```
    Creates and returns a copy of this transformer.
    
    Specified by:
    
    copy in interface VectorTransformer3d
    
    Returns:
    
    copy of this transformer
  - toString
```
public java.lang.String toString(java.lang.String fmtStr)
```
    Description copied from interface: VectorTransformer3d
    
    Returns a string representation of this transformer.
    
    Specified by:
    
    toString in interface VectorTransformer3d
    
    Parameters:
    
    fmtStr - format string describing how floating point numbers should be formatted
    
    Returns:
    
    string representation of this transformer.

Class ScaledRigidTransformer3d

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

ScaledRigidTransformer3d

ScaledRigidTransformer3d

Method Detail

set

getScaling

getOrigin

getRotation

getRigidTransform

transformPnt

transformVec

transformCovec

inverseTransformPnt

inverseTransformVec

inverseTransformCovec

isAffine

isRigid

scaleDistance

copy

toString