Transformation between 2 spatial coordinate systems. More...

#include <vcsl_spatial_transformation.h>

Inheritance diagram for vcsl_spatial_transformation:

[legend]

Public Member Functions
	vcsl_spatial_transformation (vcsl_spatial_transformation const &x)

	~vcsl_spatial_transformation () override=default

std::vector< double >	beat () const
	Return the list of time clocks. More...

unsigned int	duration () const
	Return the time duration. More...

std::vector< vcsl_interpolator >	interpolators () const
	Return the list of interpolators. More...

bool	valid_time (double time) const
	Is ‘time’ between the two time bounds ?. More...

virtual bool	is_invertible (double time) const =0
	Is ‘this’ invertible at time ‘time’?. More...

virtual bool	is_valid () const
	Is ‘this’ correctly set ?. More...

int	matching_interval (double time) const
	Return the index of the beat inferior or equal to ‘time’. More...

virtual vnl_vector< double >	execute (const vnl_vector< double > &v, double time) const =0
	Image of ‘v’ by ‘this’. More...

virtual vnl_vector< double >	inverse (const vnl_vector< double > &v, double time) const =0
	Image of ‘v’ by the inverse of ‘this’. More...

void	set_beat (std::vector< double > const &new_beat)
	Set the list of time clocks. More...

void	set_interpolators (std::vector< vcsl_interpolator > const &i)
	Set the list of interpolators. More...

void	set_static ()
	Empty the time clock and interpolators, thereby making the transf static. More...

double	lsi (double v0, double v1, int index, double time) const
	Linear interpolation on scalar values. More...

vnl_vector< double >	lvi (const vnl_vector< double > &v0, const vnl_vector< double > &v1, int index, double time) const
	Linear interpolation on vnl_vectors. More...

vnl_matrix< double >	lmi (const vnl_matrix< double > &m0, const vnl_matrix< double > &m1, int index, double time) const
	Linear interpolation on vnl_matrices. More...

vnl_quaternion< double >	lqi (const vnl_quaternion< double > &v0, const vnl_quaternion< double > &v1, int index, double time) const
	Linear interpolation on quaternions. More...

void	ref ()

void	unref ()

long	get_references () const

bool	is_referenced () const

Protected Member Functions
	vcsl_spatial_transformation ()=default

Protected Attributes
std::vector< double >	beat_
	List of time clocks. More...

std::vector< vcsl_interpolator >	interpolator_

Detailed Description

Transformation between 2 spatial coordinate systems.

A spatial transformation can be static or dynamic

Definition at line 42 of file vcsl_spatial_transformation.h.

Constructor & Destructor Documentation

◆ vcsl_spatial_transformation() [1/2]

vcsl_spatial_transformation::vcsl_spatial_transformation ( )

protecteddefault

◆ vcsl_spatial_transformation() [2/2]

vcsl_spatial_transformation::vcsl_spatial_transformation ( vcsl_spatial_transformation const & x )

inline

Definition at line 54 of file vcsl_spatial_transformation.h.

◆ ~vcsl_spatial_transformation()

vcsl_spatial_transformation::~vcsl_spatial_transformation ( )

overridedefault

Member Function Documentation

◆ beat()

std::vector<double> vcsl_spatial_transformation::beat ( ) const

inline

Return the list of time clocks.

Definition at line 65 of file vcsl_spatial_transformation.h.

◆ duration()

unsigned int vcsl_spatial_transformation::duration ( ) const

inline

Return the time duration.

Definition at line 68 of file vcsl_spatial_transformation.h.

◆ execute()

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_composition, vcsl_scale, vcsl_displacement, vcsl_matrix, and vcsl_cylindrical_to_cartesian_3d.

◆ interpolators()

std::vector<vcsl_interpolator> vcsl_spatial_transformation::interpolators ( ) const

inline

Return the list of interpolators.

Definition at line 71 of file vcsl_spatial_transformation.h.

◆ inverse()

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_composition, vcsl_scale, vcsl_displacement, vcsl_matrix, and vcsl_cylindrical_to_cartesian_3d.

◆ is_invertible()

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_composition, vcsl_perspective, vcsl_rotation, vcsl_matrix, vcsl_translation, vcsl_scale, and vcsl_cylindrical_to_cartesian_3d.

◆ is_valid()

virtual bool vcsl_spatial_transformation::is_valid ( ) const

inlinevirtual

Is ‘this’ correctly set ?.

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

Definition at line 81 of file vcsl_spatial_transformation.h.

◆ lmi()

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 94 of file vcsl_spatial_transformation.cxx.

◆ lqi()

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