本文整理汇总了C++中Transform3d::rotate方法的典型用法代码示例。如果您正苦于以下问题：C++ Transform3d::rotate方法的具体用法？C++ Transform3d::rotate怎么用？C++ Transform3d::rotate使用的例子？那么恭喜您, 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Transform3d的用法示例。
在下文中一共展示了Transform3d::rotate方法的3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: mouse_position_in_local_plane
Vec3d GLGizmoRotate::mouse_position_in_local_plane(const Linef3& mouse_ray, const Selection& selection) const
{
double half_pi = 0.5 * (double)PI;
Transform3d m = Transform3d::Identity();
switch (m_axis)
{
case X:
{
m.rotate(Eigen::AngleAxisd(half_pi, Vec3d::UnitZ()));
m.rotate(Eigen::AngleAxisd(-half_pi, Vec3d::UnitY()));
break;
}
case Y:
{
m.rotate(Eigen::AngleAxisd(half_pi, Vec3d::UnitY()));
m.rotate(Eigen::AngleAxisd(half_pi, Vec3d::UnitZ()));
break;
}
default:
case Z:
{
// no rotation applied
break;
}
}
if (selection.is_single_volume() || selection.is_single_modifier() || selection.requires_local_axes())
m = m * selection.get_volume(*selection.get_volume_idxs().begin())->get_instance_transformation().get_matrix(true, false, true, true).inverse();
m.translate(-m_center);
return transform(mouse_ray, m).intersect_plane(0.0);
}示例2: rotateFrame
void rotateFrame(brics_3d::WorldModel* wm, unsigned int transformNodeId) {
Eigen::Vector3d axis(1,1,1);
axis.normalize();
Eigen::AngleAxis<double> rotation(rotationValue, axis);
//hen setting up an AngleAxis object, the axis vector must be normalized.
Transform3d transformation;
transformation = Eigen::Affine3d::Identity();
transformation.translate(Eigen::Vector3d(0.15,0,0));
transformation.rotate(rotation);
brics_3d::HomogeneousMatrix44::IHomogeneousMatrix44Ptr transform(new brics_3d::HomogeneousMatrix44(&transformation));
wm->scene.setTransform(transformNodeId, transform, brics_3d::rsg::TimeStamp(timer.getCurrentTime()));
rotationValue += 0.01;
}示例3: execute
void RoiManager::execute() {
LOG(INFO) << "RoiManager: Adding a new ROI.";
if (inputDataIds.size() < 1) {
LOG(WARNING) << "RoiManager: Not enough input IDs.";
return;
}
brics_3d::rsg::Id rootId = inputDataIds[0];
Eigen::AngleAxis<double> rotation(roiPitch, Eigen::Vector3d(1,0,0));
Transform3d transformation;
transformation = Eigen::Affine3d::Identity();
transformation.translate(Eigen::Vector3d(roiCenterX,roiCenterY,roiCenterZ));
transformation.rotate(rotation);
brics_3d::HomogeneousMatrix44::IHomogeneousMatrix44Ptr transform(new brics_3d::HomogeneousMatrix44(&transformation));
brics_3d::rsg::Id tfBox1Id = 0;
brics_3d::rsg::Id Box1Id = 0;
vector<brics_3d::rsg::Attribute> tmpAttributes;
tmpAttributes.clear();
tmpAttributes.push_back(Attribute("name","roi_box_tf"));
wm->scene.addTransformNode(rootId, tfBox1Id, tmpAttributes, transform, brics_3d::rsg::TimeStamp(timer.getCurrentTime()));
brics_3d::rsg::Box::BoxPtr box1(new brics_3d::rsg::Box(roiBoxSizeX, roiBoxSizeY, roiBoxSizeZ));
tmpAttributes.clear();
tmpAttributes.push_back(Attribute("name","roi_box"));
// tmpAttributes.push_back(Attribute("debugInfo","no_visualization"));
tmpAttributes.push_back(Attribute("rsgInfo","non_shared"));
wm->scene.addGeometricNode(tfBox1Id, Box1Id, tmpAttributes, box1, brics_3d::rsg::TimeStamp(timer.getCurrentTime()));
LOG(DEBUG) << "ROI Box added with ID " << Box1Id;
/* Here comes a basic robot skeleton */
brics_3d::rsg::Id tfWorldToRobotId = 0;
tmpAttributes.clear();
tmpAttributes.push_back(Attribute("name","world_to_robot_tf"));
brics_3d::HomogeneousMatrix44::IHomogeneousMatrix44Ptr initialWorldToRobotTransform(new brics_3d::HomogeneousMatrix44());
wm->scene.addTransformNode(wm->scene.getRootId(), tfWorldToRobotId, tmpAttributes, initialWorldToRobotTransform, brics_3d::rsg::TimeStamp(timer.getCurrentTime()));
brics_3d::rsg::Id tfRobotToSensorId = 0;
tmpAttributes.clear();
tmpAttributes.push_back(Attribute("name","robot_to_sensor_tf"));
brics_3d::HomogeneousMatrix44::IHomogeneousMatrix44Ptr initialRobotToSensorTransform(new brics_3d::HomogeneousMatrix44());
LOG(DEBUG) << "current times stamp for frame = "<< timer.getCurrentTime();
wm->scene.addTransformNode(tfWorldToRobotId, tfRobotToSensorId, tmpAttributes, initialRobotToSensorTransform, brics_3d::rsg::TimeStamp(timer.getCurrentTime()));
/* We will add a hook for the processing data */
brics_3d::rsg::Id sensorGroupId;
tmpAttributes.clear();
tmpAttributes.push_back(Attribute("name","sensor"));
wm->scene.addGroup(tfRobotToSensorId, sensorGroupId, tmpAttributes);
LOG(DEBUG) << "Sensor group added with ID " << sensorGroupId;
/* We will add a hook for the scene objects */
brics_3d::rsg::Id sceneObjectsGroupId;
tmpAttributes.clear();
tmpAttributes.push_back(Attribute("name","sceneObjects"));
wm->scene.addGroup(wm->scene.getRootId(), sceneObjectsGroupId, tmpAttributes);
LOG(DEBUG) << "Scene objects group added with ID " << sensorGroupId;
}