Archetype: A 3D transform. More...

#include <rerun/archetypes/transform3d.hpp>

Public Types
using	IndicatorComponent = rerun::components::IndicatorComponent< IndicatorComponentName >
	Indicator component, used to identify the archetype when converting to a list of components.

Public Member Functions
	Transform3D (const datatypes::TranslationAndMat3x3 &translation_and_mat3x3)
	New 3D transform from translation/matrix datatype.

	Transform3D (const datatypes::Vec3D &translation, const datatypes::Vec3D(&columns)[3], bool from_parent=false)
	Creates a new 3D transform from translation and matrix provided as 3 columns.

	Transform3D (const datatypes::Vec3D &translation, const datatypes::Mat3x3 &matrix, bool from_parent=false)
	Creates a new 3D transform from translation/matrix.

	Transform3D (const datatypes::Vec3D &translation, bool from_parent=false)
	From translation only.

	Transform3D (const datatypes::Mat3x3 &matrix, bool from_parent=false)
	From 3x3 matrix only.

	Transform3D (const datatypes::Vec3D(&columns)[3], bool from_parent=false)
	From 3x3 matrix provided as 3 columns only.

	Transform3D (const datatypes::TranslationRotationScale3D &translation_rotation_scale3d)
	New 3D transform from translation/rotation/scale datatype.

	Transform3D (const datatypes::Vec3D &translation, const datatypes::Rotation3D &rotation, const datatypes::Scale3D &scale, bool from_parent=false)
	Creates a new 3D transform from translation/rotation/scale.

	Transform3D (const datatypes::Vec3D &translation, const datatypes::Rotation3D &rotation, float uniform_scale, bool from_parent=false)
	Creates a new 3D transform from translation/rotation/uniform-scale.

	Transform3D (const datatypes::Vec3D &translation, const datatypes::Rotation3D &rotation, bool from_parent=false)
	Creates a new rigid transform (translation & rotation only).

	Transform3D (const datatypes::Vec3D &translation, const datatypes::Scale3D &scale, bool from_parent=false)
	From translation & scale only.

	Transform3D (const datatypes::Vec3D &translation, float uniform_scale, bool from_parent=false)
	From translation & uniform scale only.

	Transform3D (const datatypes::Rotation3D &rotation, const datatypes::Scale3D &scale, bool from_parent=false)
	From rotation & scale.

	Transform3D (const datatypes::Rotation3D &rotation, float uniform_scale, bool from_parent=false)
	From rotation & uniform scale.

	Transform3D (const datatypes::Rotation3D &rotation, bool from_parent=false)
	From rotation only.

	Transform3D (const datatypes::Scale3D &scale, bool from_parent=false)
	From scale only.

	Transform3D (Transform3D &&other)=default

	Transform3D (rerun::components::Transform3D _transform)

size_t	num_instances () const
	Returns the number of primary instances of this archetype.

Public Attributes
rerun::components::Transform3D	transform
	The transform.

Static Public Attributes
static constexpr const char	IndicatorComponentName []

static const Transform3D	IDENTITY
	Identity transformation.

Detailed Description

Archetype: A 3D transform.

Example

Variety of 3D transforms

#include <rerun.hpp>
 
constexpr float TAU = 6.28318530717958647692528676655900577f;
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_transform3d");
    rec.spawn().exit_on_failure();
 
    auto arrow =
        rerun::Arrows3D::from_vectors({{0.0f, 1.0f, 0.0f}}).with_origins({{0.0f, 0.0f, 0.0f}});
 
    rec.log("base", arrow);
 
    rec.log("base/translated", rerun::Transform3D({1.0f, 0.0f, 0.0f}));
    rec.log("base/translated", arrow);
 
    rec.log(
        "base/rotated_scaled",
        rerun::Transform3D(
            rerun::RotationAxisAngle({0.0f, 0.0f, 1.0f}, rerun::Angle::radians(TAU / 8.0f)),
            2.0f
        )
    );
    rec.log("base/rotated_scaled", arrow);
}

Constructor & Destructor Documentation

◆ Transform3D() [1/16]

rerun::archetypes::Transform3D::Transform3D ( const datatypes::TranslationAndMat3x3 & translation_and_mat3x3 )

inline

New 3D transform from translation/matrix datatype.

Parameters

translation_and_mat3x3 Combined translation/matrix.

◆ Transform3D() [2/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Vec3D &	translation,
		const datatypes::Vec3D(&)	columns[3],
		bool	from_parent = `false`
	)

inline

Creates a new 3D transform from translation and matrix provided as 3 columns.

Parameters

translation	\çopydoc datatypes::TranslationAndMat3x3::translation
columns	Column vectors of 3x3 matrix.
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

Implementation note: This overload is necessary, otherwise the array may be interpreted as bool and call the wrong overload.

◆ Transform3D() [3/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Vec3D &	translation,
		const datatypes::Mat3x3 &	matrix,
		bool	from_parent = `false`
	)

inline

Creates a new 3D transform from translation/matrix.

Parameters

translation	\çopydoc datatypes::TranslationAndMat3x3::translation
matrix	3x3 matrix for scale, rotation & shear.
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

◆ Transform3D() [4/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Vec3D &	translation,
		bool	from_parent = `false`
	)

inline

From translation only.

Parameters

translation	\çopydoc datatypes::TranslationRotationScale3D::translation
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

◆ Transform3D() [5/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Mat3x3 &	matrix,
		bool	from_parent = `false`
	)

inline

From 3x3 matrix only.

Parameters

matrix	3x3 matrix for scale, rotation & shear.
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

◆ Transform3D() [6/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Vec3D(&)	columns[3],
		bool	from_parent = `false`
	)

inline

From 3x3 matrix provided as 3 columns only.

Parameters

columns	Column vectors of 3x3 matrix.
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

◆ Transform3D() [7/16]

rerun::archetypes::Transform3D::Transform3D ( const datatypes::TranslationRotationScale3D & translation_rotation_scale3d )

inline

New 3D transform from translation/rotation/scale datatype.

Parameters

translation_rotation_scale3d Combined translation/rotation/scale.

◆ Transform3D() [8/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Vec3D &	translation,
		const datatypes::Rotation3D &	rotation,
		const datatypes::Scale3D &	scale,
		bool	from_parent = `false`
	)

inline

Creates a new 3D transform from translation/rotation/scale.

Parameters

translation	3D translation vector, applied last.
rotation	3D rotation, applied second.
scale	3D scale, applied first.
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

◆ Transform3D() [9/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Vec3D &	translation,
		const datatypes::Rotation3D &	rotation,
		float	uniform_scale,
		bool	from_parent = `false`
	)

inline

Creates a new 3D transform from translation/rotation/uniform-scale.

Parameters

translation	3D translation vector, applied last.
rotation	3D rotation, applied second.
uniform_scale	Uniform scale factor that is applied to all axis equally.
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

Implementation note: This explicit overload prevents interpretation of the float as bool, leading to a call to the wrong overload.

◆ Transform3D() [10/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Vec3D &	translation,
		const datatypes::Rotation3D &	rotation,
		bool	from_parent = `false`
	)

inline

Creates a new rigid transform (translation & rotation only).

Parameters

translation	3D translation vector, applied last.
rotation	3D rotation, applied second.
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

◆ Transform3D() [11/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Vec3D &	translation,
		const datatypes::Scale3D &	scale,
		bool	from_parent = `false`
	)

inline

From translation & scale only.

Parameters

translation	3D translation vector, applied last.
scale	datatypes::TranslationRotationScale3D::scale
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

◆ Transform3D() [12/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Vec3D &	translation,
		float	uniform_scale,
		bool	from_parent = `false`
	)

inline

From translation & uniform scale only.

Parameters

translation	3D translation vector, applied last.
uniform_scale	Uniform scale factor that is applied to all axis equally.
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

Implementation note: This explicit overload prevents interpretation of the float as bool, leading to a call to the wrong overload.

◆ Transform3D() [13/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Rotation3D &	rotation,
		const datatypes::Scale3D &	scale,
		bool	from_parent = `false`
	)

inline

From rotation & scale.

Parameters

rotation	3D rotation, applied second.
scale	datatypes::TranslationRotationScale3D::scale
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

◆ Transform3D() [14/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Rotation3D &	rotation,
		float	uniform_scale,
		bool	from_parent = `false`
	)

inline

From rotation & uniform scale.

Parameters

rotation	3D rotation, applied second.
uniform_scale	Uniform scale factor that is applied to all axis equally.
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

Implementation note: This explicit overload prevents interpretation of the float as bool, leading to a call to the wrong overload.

◆ Transform3D() [15/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Rotation3D &	rotation,
		bool	from_parent = `false`
	)

inline

From rotation only.

Parameters

rotation	3D rotation, applied second.
from_parent	If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

◆ Transform3D() [16/16]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Scale3D &	scale,
		bool	from_parent = `false`
	)

inline

From scale only.

Parameters

scale If true, this transform is from the parent space to the space where the transform was logged.

If false (default), the transform maps from this space to its parent, i.e. the translation is the position in the parent space.

Parameters

from_parent 3D scale, applied first.

Member Data Documentation

◆ IndicatorComponentName

constexpr const char rerun::archetypes::Transform3D::IndicatorComponentName[]

staticconstexpr

Initial value:

=

"rerun.components.Transform3DIndicator"

◆ IDENTITY

const Transform3D rerun::archetypes::Transform3D::IDENTITY

static

Identity transformation.

Applying this transform does not alter an entity's transformation.

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

rerun/archetypes/transform3d.hpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Example

Variety of 3D transforms

Constructor & Destructor Documentation

◆ Transform3D() [1/16]

◆ Transform3D() [2/16]

◆ Transform3D() [3/16]

◆ Transform3D() [4/16]

◆ Transform3D() [5/16]

◆ Transform3D() [6/16]

◆ Transform3D() [7/16]

◆ Transform3D() [8/16]

◆ Transform3D() [9/16]

◆ Transform3D() [10/16]

◆ Transform3D() [11/16]

◆ Transform3D() [12/16]

◆ Transform3D() [13/16]

◆ Transform3D() [14/16]

◆ Transform3D() [15/16]

◆ Transform3D() [16/16]

Member Data Documentation

◆ IndicatorComponentName

◆ IDENTITY