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ctReferenceFrame Class Reference

me add support for nested frames of reference.me This class should take care of it's ODE state interface... maybe... More...

#include <refframe.h>

List of all members.

Public Methods

ctReferenceFrame (coord px=0, coord py=0, coord pz=0, ctangle ppitch=0, ctangle proll=0, ctangle pyaw=0, ctReferenceFrame *ref=NULL)

~ctReferenceFrame ()

bool is_universe ()

bool not_universe ()

const ctVector3& get_offset ()

const ctVector3& get_world_offset ()

void set_offset (const ctVector3 &v)

void set_world_offset (ctVector3 &v)

const ctMatrix3& get_R ()

get/set rotation matrix ( transform from child to parent frame ) or rotation matrix in parent coords.

const ctMatrix3& get_this_to_parent ()

void set_R (const ctMatrix3 &M)

void set_this_to_parent (const ctMatrix3 &M)

const ctMatrix3& get_T ()

get/set tranform matrix ( transfrom from parent to child frame ).

const ctMatrix3& get_parent_to_this ()

void set_T (const ctMatrix3 &M)

void set_parent_to_this (const ctMatrix3 &M)

const ctMatrix3& get_this_to_world ()

me no hiearchy yet really.

void this_to_world (ctVector3 &v)

void this_to_world (ctVector3 &v, ctVector3 &src)

Static Public Methods

ctReferenceFrame& universe ()

void add_ref (ctReferenceFrame &rf)

void remove_ref (ctReferenceFrame &rf)

Protected Attributes

ctMatrix3 gTf

transform from parent frame to this one.

ctMatrix3 fTg

transfrom from this frame to parent frame.

ctVector3 offset

offset from parent frame to this one in parent's frame.

int reference_count

bool is_universe_frame

true if this is the top-most reference frame.

Detailed Description

me add support for nested frames of reference.me This class should take care of it's ODE state interface... maybe...

The documentation for this class was generated from the following file:

refframe.h