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C++ C7Vector::X方法代码示例

本文整理汇总了C++中C7Vector::X方法的典型用法代码示例。如果您正苦于以下问题：C++ C7Vector::X方法的具体用法？C++ C7Vector::X怎么用？C++ C7Vector::X使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类C7Vector的用法示例。


在下文中一共展示了C7Vector::X方法的5个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: simEmbInterpolateTransformations

int simEmbInterpolateTransformations(const float* position1,const float* quaternion1,const float* position2,const float* quaternion2,float interpolFactor,float* positionOut,float* quaternionOut)
{
	if (!hasLaunched())
		return(-1);
	// V-REP quaternion, internally: w x y z
	// V-REP quaternion, at interfaces: x y z w (like ROS)
	C7Vector tr1;
	tr1.Q(0)=quaternion1[3];
	tr1.Q(1)=quaternion1[0];
	tr1.Q(2)=quaternion1[1];
	tr1.Q(3)=quaternion1[2];
	tr1.X(0)=position1[0];
	tr1.X(1)=position1[1];
	tr1.X(2)=position1[2];

	C7Vector tr2;
	tr2.Q(0)=quaternion2[3];
	tr2.Q(1)=quaternion2[0];
	tr2.Q(2)=quaternion2[1];
	tr2.Q(3)=quaternion2[2];
	tr2.X(0)=position2[0];
	tr2.X(1)=position2[1];
	tr2.X(2)=position2[2];

	C7Vector trOut;
	trOut.buildInterpolation(tr1,tr2,interpolFactor);

	quaternionOut[0]=trOut.Q(1);
	quaternionOut[1]=trOut.Q(2);
	quaternionOut[2]=trOut.Q(3);
	quaternionOut[3]=trOut.Q(0);
	positionOut[0]=trOut.X(0);
	positionOut[1]=trOut.X(1);
	positionOut[2]=trOut.X(2);
	return(1);
}
开发者ID:dtbinh，项目名称:summer_school_jul14，代码行数:36，代码来源:extIk.cpp

示例2: simEmbInvertTransformation

int simEmbInvertTransformation(float* position,float* quaternion)
{
	if (!hasLaunched())
		return(-1);
	// V-REP quaternion, internally: w x y z
	// V-REP quaternion, at interfaces: x y z w (like ROS)
	C7Vector tr;
	tr.Q(0)=quaternion[3];
	tr.Q(1)=quaternion[0];
	tr.Q(2)=quaternion[1];
	tr.Q(3)=quaternion[2];
	tr.X(0)=position[0];
	tr.X(1)=position[1];
	tr.X(2)=position[2];
	tr.inverse();
	quaternion[0]=tr.Q(1);
	quaternion[1]=tr.Q(2);
	quaternion[2]=tr.Q(3);
	quaternion[3]=tr.Q(0);
	position[0]=tr.X(0);
	position[1]=tr.X(1);
	position[2]=tr.X(2);
	return(1);
}
开发者ID:dtbinh，项目名称:summer_school_jul14，代码行数:24，代码来源:extIk.cpp

示例3: _copyTransf

void CQDlgTranslations::_copyTransf(const C7Vector& tr,C7Vector& trIt,bool orientation,int mask)
{
	if (orientation)
		trIt.Q=tr.Q;
	else
	{
		if (mask&1)
			trIt.X(0)=tr.X(0);
		if (mask&2)
			trIt.X(1)=tr.X(1);
		if (mask&4)
			trIt.X(2)=tr.X(2);
	}
}
开发者ID:dtbinh，项目名称:vrep_altair，代码行数:14，代码来源:qdlgtranslations.cpp

示例4: _applyTransformation

void CQDlgTranslations::_applyTransformation(int t)
{ // t==0: rotation, t==1: translation, t==2: scaling
	int editMode=App::ct->objCont->getEditModeType();
	int objSelSize=App::ct->objCont->getSelSize();
	int editObjSelSize=App::ct->objCont->editModeBuffer.size();
	if ( (editMode==NO_EDIT_MODE)&&(objSelSize>0) )
	{
		for (int i=0;i<objSelSize;i++)
		{
			C3DObject* object=App::ct->objCont->getObject(App::ct->objCont->getSelID(i));
			bool hasParentPresent=false;
			if ((transfMode==0)&&(t!=2)) // scaling is different!
			{ // We do a transformation relative to the world. If this object has a parent that also is selected, we don't process this object!
				C3DObject* p=object->getParent();
				while (p!=NULL)
				{
					for (int j=0;j<objSelSize;j++)
					{
						if (App::ct->objCont->getSelID(j)==p->getID())
						{
							hasParentPresent=true;
							break;
						}
					}
					if (hasParentPresent)
						break;
					p=p->getParent();
				}
			}
			if (!hasParentPresent)
			{
				C7Vector tr;
				if (transfMode==0)
					tr=object->getCumulativeTransformationPart1();
				else
					tr=object->getLocalTransformationPart1();
				_transform(tr,t,transfMode==2);
				if (transfMode==0)
					tr=object->getParentCumulativeTransformation().getInverse()*tr;
				object->setLocalTransformation(tr);
			}
		}
	}
	if ( (editMode&PATH_EDIT_MODE)&&(editObjSelSize>0)&&(App::ct->objCont->_editionPath!=NULL) )
	{
		CPathCont* pathCont=App::ct->objCont->_editionPath;
		CPath* path=App::ct->objCont->getPath(App::ct->objCont->getEditModeObjectID());
		for (int i=0;i<editObjSelSize;i++)
		{
			CSimplePathPoint* pp=pathCont->getSimplePathPoint(App::ct->objCont->editModeBuffer[i]);
			if ( (pp!=NULL)&&(path!=NULL) )
			{
				C7Vector tr(pp->getTransformation());
				if (transfMode==0)
					tr=path->getCumulativeTransformationPart1()*tr;
				_transform(tr,t,transfMode==2);
				if (transfMode==0)
					tr=path->getCumulativeTransformationPart1().getInverse()*tr;
				pp->setTransformation(tr,pathCont->getAttributes());
			}
		}
		pathCont->actualizePath();
	}
	if ( (editMode&VERTEX_EDIT_MODE)&&(editObjSelSize>0) )
	{
		CShape* shape=App::ct->objCont->getShape(App::ct->objCont->getEditModeObjectID());
		if (shape!=NULL)
		{
			for (int i=0;i<editObjSelSize;i++)
			{
				C7Vector tr;
				tr.setIdentity();
				int ind=App::ct->objCont->editModeBuffer[i];
				tr.X.set(&App::ct->objCont->_editionVertices[3*ind+0]);
				if (transfMode==0)
					tr=shape->getCumulativeTransformationPart1()*tr;
				_transform(tr,t,transfMode==2);
				if (transfMode==0)
					tr=shape->getCumulativeTransformationPart1().getInverse()*tr;
				App::ct->objCont->_editionVertices[3*ind+0]=tr.X(0);
				App::ct->objCont->_editionVertices[3*ind+1]=tr.X(1);
				App::ct->objCont->_editionVertices[3*ind+2]=tr.X(2);
			}
		}
	}
}
开发者ID:dtbinh，项目名称:vrep_altair，代码行数:86，代码来源:qdlgtranslations.cpp

示例5: _applyCoord

void CQDlgTranslations::_applyCoord(bool orientation,int mask)
{
	int editMode=App::ct->objCont->getEditModeType();
	C3DObject* object=App::ct->objCont->getLastSelection();
	int objSelSize=App::ct->objCont->getSelSize();
	int editObjSelSize=App::ct->objCont->editModeBuffer.size();
	if ( (editMode==NO_EDIT_MODE)&&(object!=NULL)&&(objSelSize>1) )
	{
		C7Vector tr;
		if (coordMode==0)
			tr=object->getCumulativeTransformationPart1();
		else
			tr=object->getLocalTransformationPart1();
		for (int i=0;i<objSelSize-1;i++)
		{
			C3DObject* it=App::ct->objCont->getObject(App::ct->objCont->getSelID(i));
			C7Vector trIt;
			if (coordMode==0)
				trIt=it->getCumulativeTransformationPart1();
			else
				trIt=it->getLocalTransformationPart1();
			_copyTransf(tr,trIt,orientation,mask);
			if (coordMode==0)
				it->setLocalTransformation(it->getParentCumulativeTransformation().getInverse()*trIt);
			else
				it->setLocalTransformation(trIt);
		}
	}
	if ( (editMode&PATH_EDIT_MODE)&&(editObjSelSize>1)&&(App::ct->objCont->_editionPath!=NULL) )
	{
		CPathCont* pathCont=App::ct->objCont->_editionPath;
		int ind=App::ct->objCont->editModeBuffer[App::ct->objCont->editModeBuffer.size()-1];
		CSimplePathPoint* pp=pathCont->getSimplePathPoint(ind);
		CPath* path=App::ct->objCont->getPath(App::ct->objCont->getEditModeObjectID());
		if ( (pp!=NULL)&&(path!=NULL) )
		{
			C7Vector tr(pp->getTransformation());
			if (coordMode==0)
				tr=path->getCumulativeTransformationPart1()*tr;
			for (int i=0;i<editObjSelSize-1;i++)
			{
				CSimplePathPoint* ppIt=pathCont->getSimplePathPoint(App::ct->objCont->editModeBuffer[i]);
				if (ppIt!=NULL)
				{
					C7Vector trIt(ppIt->getTransformation());
					if (coordMode==0)
						trIt=path->getCumulativeTransformationPart1()*trIt;
					_copyTransf(tr,trIt,orientation,mask);
					if (coordMode==0)
						trIt=path->getCumulativeTransformationPart1().getInverse()*trIt;
					ppIt->setTransformation(trIt,pathCont->getAttributes());
				}
			}
			pathCont->actualizePath();
		}
	}
	if ( (editMode&VERTEX_EDIT_MODE)&&(editObjSelSize>1) )
	{
		int ind=App::ct->objCont->editModeBuffer[App::ct->objCont->editModeBuffer.size()-1];
		C3Vector v(App::ct->objCont->_editionVertices[3*ind+0],App::ct->objCont->_editionVertices[3*ind+1],App::ct->objCont->_editionVertices[3*ind+2]);
		CShape* shape=App::ct->objCont->getShape(App::ct->objCont->getEditModeObjectID());
		if (shape!=NULL)
		{
			C7Vector tr;
			tr.setIdentity();
			tr.X=v;
			if (coordMode==0)
				tr=shape->getCumulativeTransformationPart1()*tr;
			for (int i=0;i<editObjSelSize-1;i++)
			{
				ind=App::ct->objCont->editModeBuffer[i];
				C7Vector trIt;
				trIt.setIdentity();
				trIt.X.set(&App::ct->objCont->_editionVertices[3*ind+0]);
				if (coordMode==0)
					trIt=shape->getCumulativeTransformationPart1()*trIt;
				_copyTransf(tr,trIt,orientation,mask);
				if (coordMode==0)
					trIt=shape->getCumulativeTransformationPart1().getInverse()*trIt;
				App::ct->objCont->_editionVertices[3*ind+0]=trIt.X(0);
				App::ct->objCont->_editionVertices[3*ind+1]=trIt.X(1);
				App::ct->objCont->_editionVertices[3*ind+2]=trIt.X(2);
			}
		}
	}
}
开发者ID:dtbinh，项目名称:vrep_altair，代码行数:86，代码来源:qdlgtranslations.cpp


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