Exchange Toolkit
Eigen Bridge

Translate Exchange objects into Eigen objects to make matrix math easier and more reliable. More...

## Typedefs

using ts3d::MatrixType = Eigen::Matrix4d
Alias for a 4x4 matrix type.

using ts3d::VectorType = Eigen::Vector4d
Alias for a 4d vector type.

using ts3d::PositionType = Eigen::Vector4d
Alias for a 4d position type.

## Functions

static VectorType ts3d::getVector (A3DVector3dData const &vec)
Use this function to obtain a vector to be used with the matrix.

static A3DVector3dData ts3d::getExchangeVector (Eigen::Vector4d const &vec)
Use this function to obtain and Exchange Vector from an Eigen vector/position.

static PositionType ts3d::getPosition (A3DVector3dData const &vec)
Use this function to obtain a direction.

static MatrixType ts3d::getMatrix (A3DMiscTransformation *xform)
This function returns a matrix corresponding to the A3DMiscTranslformation. Both general and cartesian transformations are handled.

static MatrixType ts3d::getMatrix (ts3d::Instance const &i)
Gets the matrix of the leaf entity.

static MatrixType ts3d::getNetMatrix (ts3d::Instance const &i)
Gets the net matrix for a given instance.The matrix of each entry in the instance path is obtained and accumulated to provide a net resultant transform. More...

## Detailed Description

Translate Exchange objects into Eigen objects to make matrix math easier and more reliable.

## Function Documentation

 static MatrixType ts3d::getNetMatrix ( ts3d::Instance const & i )
inlinestatic

Gets the net matrix for a given instance.The matrix of each entry in the instance path is obtained and accumulated to provide a net resultant transform.

Returns
Net transform matrix from the first to the last entity in the instance path.