Introduction

Collaboration diagram for PTK Rigid Transform APIs:

Data Structures
struct	PTK_RigidTransform
	Rigid Transform Matrix (single precision). More...

struct	PTK_RigidTransform_d
	Rigid Transform Matrix (double precision). More...

Functions
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. More...

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. More...

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. More...

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. More...

void	PTK_RigidTransform_getRotation (const PTK_RigidTransform __restrict M, float __restrict R)
	Convenience function to read the rotation matrix embedded within this rigid transform. More...

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 such that M31 = M32*M21. M31 must be distinct from both M21 and M32. More...

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 input. Note that this assumes that a valid rigid transformation has been supplied: the rotation component must be an orthonormal matrix. A general matrix inversion is not used; instead an equation specific to inverting matrices that match the structure described above is used for efficiency. More...

void	PTK_RigidTransform_print (const PTK_RigidTransform *M)
	Prints the given transformation via platform-specific output mechanism. More...

void	PTK_RigidTransform_convertToDouble (PTK_RigidTransform_d __restrict Mout, const PTK_RigidTransform __restrict Min)
	Convert the given PTK RigidTransform from single to double precision. More...

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. More...

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. More...

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. More...

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. More...

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. More...

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 such that M31 = M32*M21. M31 must be distinct from both M21 and M32. More...

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 input. Note that this assumes that a valid rigid transformation has been supplied: the rotation component must be an orthonormal matrix. A general matrix inversion is not used; instead an equation specific to inverting matrices that match the structure described above is used for efficiency. More...

void	PTK_RigidTransform_d_print (const PTK_RigidTransform_d *M)
	Prints the given transformation via platform-specific output mechanism. More...

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. More...

Function Documentation

◆ PTK_RigidTransform_makeIdentity()

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.

Parameters

[in,out] M Transform to modify.

◆ PTK_RigidTransform_setTranslation()

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.

Parameters

[out]	M	Transformation to update.
[in]	x	New x.
[in]	y	New y.
[in]	z	New z.

◆ PTK_RigidTransform_getTranslation()

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.

Parameters

[in]	M	Transformation to read from.
[out]	x	X-component of the translation vector.
[out]	y	Y-component of the translation vector.
[out]	z	Z-component of the translation vector.

◆ PTK_RigidTransform_setRotation()

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.

Parameters

[in,out]	M	The transformation to update.
[in]	R	9 element array containing a 3x3 rotation matrix in row-major order

◆ PTK_RigidTransform_getRotation()

void PTK_RigidTransform_getRotation	(	const PTK_RigidTransform *__restrict	M,
		float *__restrict	R
	)

Convenience function to read the rotation matrix embedded within this rigid transform.

Parameters

[in]	M	The transformation to update.
[out]	R	9 element array containing a 3x3 rotation matrix in row-major order

◆ PTK_RigidTransform_compose()

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 such that M31 = M32*M21. M31 must be distinct from both M21 and M32.

Parameters

[out]	M31_out	M31 transformation.
[in]	M32_in	M32 transformation.
[in]	M21_in	M21 transformation.

◆ PTK_RigidTransform_invert()

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 input. Note that this assumes that a valid rigid transformation has been supplied: the rotation component must be an orthonormal matrix. A general matrix inversion is not used; instead an equation specific to inverting matrices that match the structure described above is used for efficiency.

Parameters

[out]	M21_out	Write the inverse here.
[in]	M12_in	The transform to compute the inverse of.

◆ PTK_RigidTransform_print()

void PTK_RigidTransform_print ( const PTK_RigidTransform * M )

Prints the given transformation via platform-specific output mechanism.

Parameters

[in] M Transform to be printed.

◆ PTK_RigidTransform_convertToDouble()

void PTK_RigidTransform_convertToDouble	(	PTK_RigidTransform_d *__restrict	Mout,
		const PTK_RigidTransform *__restrict	Min
	)

Convert the given PTK RigidTransform from single to double precision.

Parameters

[out]	Mout	Double precision version written here.
[in]	Min	Floating point transform to convert.

◆ PTK_RigidTransform_d_makeIdentity()

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.

Parameters

[in,out] M Transform to modify.

◆ PTK_RigidTransform_d_setTranslation()

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.

Parameters

[out]	M	Transformation to update.
[in]	x	New x.
[in]	y	New y.
[in]	z	New z.

◆ PTK_RigidTransform_d_getTranslation()

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.

Parameters

[in]	M	Transformation to read from.
[out]	x	X-component of the translation vector.
[out]	y	Y-component of the translation vector.
[out]	z	Z-component of the translation vector.

◆ PTK_RigidTransform_d_setRotation()

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.

Parameters

[in,out]	M	The transformation to update.
[in]	R	9 element array containing a 3x3 rotation matrix in row-major order

◆ PTK_RigidTransform_d_getRotation()

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.

Parameters

[in]	M	The transformation to update.
[out]	R	9 element array containing a 3x3 rotation matrix in row-major order

◆ PTK_RigidTransform_d_compose()

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 such that M31 = M32*M21. M31 must be distinct from both M21 and M32.

Parameters

[out]	M31_out	M31 transformation.
[in]	M32_in	M32 transformation.
[in]	M21_in	M21 transformation.

◆ PTK_RigidTransform_d_invert()

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 input. Note that this assumes that a valid rigid transformation has been supplied: the rotation component must be an orthonormal matrix. A general matrix inversion is not used; instead an equation specific to inverting matrices that match the structure described above is used for efficiency.

Parameters

[out]	M21_out	Write the inverse here.
[in]	M12_in	The transform to compute the inverse of.

◆ PTK_RigidTransform_d_print()

void PTK_RigidTransform_d_print ( const PTK_RigidTransform_d * M )

Prints the given transformation via platform-specific output mechanism.

Parameters

[in] M Transform to be printed.

◆ PTK_RigidTransform_d_convertToSingle()

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.

Parameters

[out]	Mout	Single precision version here.
[in]	Min	Double precision transform to convert.

Introduction

Data Structures

Functions

Function Documentation

◆ PTK_RigidTransform_makeIdentity()

◆ PTK_RigidTransform_setTranslation()

◆ PTK_RigidTransform_getTranslation()

◆ PTK_RigidTransform_setRotation()

◆ PTK_RigidTransform_getRotation()

◆ PTK_RigidTransform_compose()

◆ PTK_RigidTransform_invert()

◆ PTK_RigidTransform_print()

◆ PTK_RigidTransform_convertToDouble()

◆ PTK_RigidTransform_d_makeIdentity()

◆ PTK_RigidTransform_d_setTranslation()

◆ PTK_RigidTransform_d_getTranslation()

◆ PTK_RigidTransform_d_setRotation()

◆ PTK_RigidTransform_d_getRotation()

◆ PTK_RigidTransform_d_compose()

◆ PTK_RigidTransform_d_invert()

◆ PTK_RigidTransform_d_print()

◆ PTK_RigidTransform_d_convertToSingle()