Perception Tool Kit (PTK) API Guide
rigidTransform.h
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62 #pragma once
63 #ifndef PTK_RIGID_TRANSFORM_H
64 #define PTK_RIGID_TRANSFORM_H
65 
76 #ifdef __cplusplus
77 extern "C" {
78 #endif
79 
85 typedef struct
86 {
106  float M[16];
107 
109 
118 typedef struct
119 {
139  double M[16];
140 
142 
143 
144 /* Single precision functions. */
155 
170 void PTK_RigidTransform_setTranslation(PTK_RigidTransform *M, float x, float y, float z);
171 
186 void PTK_RigidTransform_getTranslation(const PTK_RigidTransform *M, float *x, float *y, float *z);
187 
201 void PTK_RigidTransform_setRotation(PTK_RigidTransform *__restrict M, const float *__restrict R);
202 
214 void PTK_RigidTransform_getRotation(const PTK_RigidTransform *__restrict M, float *__restrict R);
215 
229 void PTK_RigidTransform_compose(PTK_RigidTransform *__restrict M31_out, const PTK_RigidTransform *__restrict M32_in, const PTK_RigidTransform *__restrict M21_in);
230 
245 void PTK_RigidTransform_invert(PTK_RigidTransform *__restrict M21_out, const PTK_RigidTransform *__restrict M12_in);
246 
256 
257 /* Conversions. */
267 void PTK_RigidTransform_convertToDouble(PTK_RigidTransform_d *__restrict Mout, const PTK_RigidTransform *__restrict Min);
268 
269 /* Double precision functions. */
280 
295 void PTK_RigidTransform_d_setTranslation(PTK_RigidTransform_d *M, double x, double y, double z);
296 
311 void PTK_RigidTransform_d_getTranslation(const PTK_RigidTransform_d *M, double *x, double *y, double *z);
312 
326 void PTK_RigidTransform_d_setRotation(PTK_RigidTransform_d *__restrict M, const double *__restrict R);
327 
339 void PTK_RigidTransform_d_getRotation(const PTK_RigidTransform_d *__restrict M, double *__restrict R);
340 
354 void PTK_RigidTransform_d_compose(PTK_RigidTransform_d *__restrict M31_out, const PTK_RigidTransform_d *__restrict M32_in, const PTK_RigidTransform_d *__restrict M21_in);
355 
370 void PTK_RigidTransform_d_invert(PTK_RigidTransform_d *__restrict M21_out, const PTK_RigidTransform_d *__restrict M12_in);
371 
381 
391 void PTK_RigidTransform_d_convertToSingle(PTK_RigidTransform *__restrict Mout, const PTK_RigidTransform_d *__restrict Min);
392 
393 #ifdef __cplusplus
394 }
395 #endif
396 
397 #endif
void PTK_RigidTransform_d_setTranslation(PTK_RigidTransform_d *M, double x, double y, double z)
Convenience function to update all three components of the transform's translation component safely...
void PTK_RigidTransform_d_getTranslation(const PTK_RigidTransform_d *M, double *x, double *y, double *z)
Convenience function to get all three components of the transform's translation component safely...
void PTK_RigidTransform_d_convertToSingle(PTK_RigidTransform *__restrict Mout, const PTK_RigidTransform_d *__restrict Min)
Convert the given RigidTransform d from double to single precision.
void PTK_RigidTransform_d_compose(PTK_RigidTransform_d *__restrict M31_out, const PTK_RigidTransform_d *__restrict M32_in, const PTK_RigidTransform_d *__restrict M21_in)
This creates a single transformation that acts as the composition of the two given transformations su...
void PTK_RigidTransform_d_makeIdentity(PTK_RigidTransform_d *M)
This replaces the contents of the given rigid transformation with an identity transformation. This handles the duties of both initialization and resetting or clearing the data structure.
void PTK_RigidTransform_getRotation(const PTK_RigidTransform *__restrict M, float *__restrict R)
Convenience function to read the rotation matrix embedded within this rigid transform.
void PTK_RigidTransform_d_setRotation(PTK_RigidTransform_d *__restrict M, const double *__restrict R)
Convenience function to update the rotation matrix embedded within this rigid transform. The rotation argument must be an orthonormal matrix, otherwise the subsequent behavior of the PTK_RigidTransform is undefined.
void PTK_RigidTransform_invert(PTK_RigidTransform *__restrict M21_out, const PTK_RigidTransform *__restrict M12_in)
This computes the inverse of the given rigid transformation. The output must be different from the in...
void PTK_RigidTransform_setTranslation(PTK_RigidTransform *M, float x, float y, float z)
Convenience function to update all three components of the transform's translation component safely...
void PTK_RigidTransform_convertToDouble(PTK_RigidTransform_d *__restrict Mout, const PTK_RigidTransform *__restrict Min)
Convert the given PTK RigidTransform from single to double precision.
void PTK_RigidTransform_d_print(const PTK_RigidTransform_d *M)
Prints the given transformation via platform-specific output mechanism.
void PTK_RigidTransform_setRotation(PTK_RigidTransform *__restrict M, const float *__restrict R)
Convenience function to update the rotation matrix embedded within this rigid transform. The rotation argument must be an orthonormal matrix, otherwise the subsequent behavior of the PTK_RigidTransform is undefined.
void PTK_RigidTransform_d_invert(PTK_RigidTransform_d *__restrict M21_out, const PTK_RigidTransform_d *__restrict M12_in)
This computes the inverse of the given rigid transformation. The output must be different from the in...
Rigid Transform Matrix (single precision).
Definition: rigidTransform.h:85
Rigid Transform Matrix (double precision).
Definition: rigidTransform.h:118
void PTK_RigidTransform_print(const PTK_RigidTransform *M)
Prints the given transformation via platform-specific output mechanism.
void PTK_RigidTransform_d_getRotation(const PTK_RigidTransform_d *__restrict M, double *__restrict R)
Convenience function to read the rotation matrix embedded within this rigid transform.
void PTK_RigidTransform_compose(PTK_RigidTransform *__restrict M31_out, const PTK_RigidTransform *__restrict M32_in, const PTK_RigidTransform *__restrict M21_in)
This creates a single transformation that acts as the composition of the two given transformations su...
void PTK_RigidTransform_makeIdentity(PTK_RigidTransform *M)
This replaces the contents of the given rigid transformation with an identity transformation. This handles the duties of both initialization and resetting or clearing the data structure.
void PTK_RigidTransform_getTranslation(const PTK_RigidTransform *M, float *x, float *y, float *z)
Convenience function to get all three components of the transform's translation component safely...