Uses of Class
com.kuka.math.geometry.Transformation

Packages that use Transformation

com.kuka.geometry	This package contains interfaces and classes for the KUKA scene graph and geometry model.
com.kuka.geometry.connections	This package contains interfaces and classes describing connections between Frames.
com.kuka.math.geometry	This package contains interfaces and implementations for basic linear algebra and geometric concepts.
com.kuka.math.physics	This package contains some utility classes for physical calculations.

Uses of Transformation in com.kuka.geometry

Methods in com.kuka.geometry that return Transformation

Transformation	Frame.calculateTransformationTo(Frame target) Calculates the transformation from this frame to the given target frame, combining the connections between the frames along the frame graph.
Transformation	QueryConnectionChain.getTransformation() This method calculates the transformation from source frame to target frame.
Transformation	QueryConnectionChain.getTransformation(QueryType queryType) This method calculates the transformation from source frame to target frame using the following methods: For each ITransformationConnection, ITransformationConnection.getTransformationFromParent() will be used in the calculation.
Transformation	Frame.getTransformationFromParent() Gets the transformation from the reference frame (parent) to this frame.

Methods in com.kuka.geometry that return types with arguments of type Transformation

Map<QueryType,Transformation>

QueryConnectionChain.getTransformations(Collection<? extends QueryType> queryTypes, Object queryContext) This method calculates the transformation from source frame to target frame for each of the given QueryTypes, using the following methods: For each ITransformationConnection, ITransformationConnection.getTransformationFromParent() will be used in the calculation.

Uses of Transformation in com.kuka.geometry.connections

Methods in com.kuka.geometry.connections that return Transformation

Transformation

StaticConnection.getTransformationFromParent()

Uses of Transformation in com.kuka.math.geometry

Fields in com.kuka.math.geometry declared as Transformation

static Transformation

Transformation.IDENTITY Immutable Transformation instance representing identity (i.e. unchanging) transformation.

Methods in com.kuka.math.geometry that return Transformation

Transformation	Transformation.compose(ITransformation other)
Transformation	Transformation.invert()
static Transformation	Transformation.of(double x, double y, double z) Returns an immutable Transformation instance, consisting of a translational part and no rotation.
static Transformation	Transformation.of(IRotation rotation) Returns an immutable Transformation instance, consisting of a rotational part only.
static Transformation	Transformation.of(ITransformation orig) Returns an immutable Transformation instance with the same value as the given transformation.
static Transformation	Transformation.of(Vector3D translation) Returns an immutable Transformation instance, consisting of a translational part and no rotation.
static Transformation	Transformation.of(Vector3D translation, IRotation rotation) Returns an immutable Transformation instance, consisting of a rotational and a translational part.
static Transformation	Transformation.of(Vector3D translation, Matrix rotMatrix) Returns an immutable Transformation instance, consisting of a rotational and a translational part.
static Transformation	Transformation.ofDeg(double alpha, double beta, double gamma) Returns an immutable Transformation instance, consisting of a rotational part only.
static Transformation	Transformation.ofDeg(double x, double y, double z, double alpha, double beta, double gamma) Returns an immutable Transformation instance, consisting of a translational and a rotational part.
static Transformation	Transformation.ofRad(double alpha, double beta, double gamma) Returns an immutable Transformation instance, consisting of a rotational part only.
static Transformation	Transformation.ofRad(double x, double y, double z, double alpha, double beta, double gamma) Returns an immutable Transformation instance, consisting of a translational and a rotational part.
Transformation	Transformation.transformationTo(ITransformation other)
Transformation	Transformation.withAlphaRad(double value) Returns a new instance (copy) of the transformation, with the α (alpha) angle replaced by the new value.
Transformation	Transformation.withBetaRad(double value) Returns a new instance (copy) of the transformation, with the β (beta) angle replaced by the new value.
Transformation	Transformation.withGammaRad(double value) Returns a new instance (copy) of the transformation, with the γ (gamma) angle replaced by the new value.
Transformation	Transformation.withRotation(IRotation rotation)
Transformation	Transformation.withRotation(Matrix matrix) Returns a new instance (copy) of the transformation, with the rotational part replaced by the given rotation in matrix form.
Transformation	Transformation.withRotationDeg(double alpha, double beta, double gamma) Returns a new instance (copy) of the transformation, with the rotational part set to the given Euler Z-Y-X angles α, β, γ in degrees.
Transformation	Transformation.withRotationRad(double alpha, double beta, double gamma) Returns a new instance (copy) of the transformation, with the rotational part set to the given Euler Z-Y-X angles α, β, γ in radians.
Transformation	Transformation.withTranslation(double x, double y, double z) Returns a new instance (copy) of the transformation, with the translational part replaced by the given three cartesian vector elements x, y, z.
Transformation	Transformation.withTranslation(Vector3D translation)
Transformation	Transformation.withX(double value) Returns a new instance (copy) of this transformation where the x element of the translation part of the is replaced by the given value.
Transformation	Transformation.withY(double value) Returns a new instance (copy) of this transformation where the y element of the translation part of the is replaced by the given value.
Transformation	Transformation.withZ(double value) Returns a new instance (copy) of this transformation where the z element of the translation part of the is replaced by the given value.

Uses of Transformation in com.kuka.math.physics

Methods in com.kuka.math.physics that return Transformation

Transformation

LoadData.getCenterOfMass() Gets the center of mass.