예제 #1
0
파일: DatParser_1.cs 프로젝트: tsgouros/wv
 public static void addRTtoTransform(TransformRT tfm, Transform transform)
 {
     transform.setTransform(tfm.R.Array[0][0], tfm.R.Array[0][1], tfm.R.Array[0][2],
                            tfm.R.Array[1][0], tfm.R.Array[1][1], tfm.R.Array[1][2],
                            tfm.R.Array[2][0], tfm.R.Array[2][1], tfm.R.Array[2][2],
                            tfm.T.Array[0][0], tfm.T.Array[0][1], tfm.T.Array[0][2]);
 }
예제 #2
0
파일: DatParser_1.cs 프로젝트: tsgouros/wv
        public static TransformRT[] parseACSFileToRT(string filename)
        {
            double[][]    dat = parseACSFile(filename);
            TransformRT[] ACS = new TransformRT[1];

            ACS[0] = new TransformRT();
            double[][] tempR = { dat[0], dat[1], dat[2] };
            ACS[0].R = new GeneralMatrix(tempR, 3, 3);
            ACS[0].T = new GeneralMatrix(dat[3], 1);

            return(ACS);
        }
예제 #3
0
파일: DatParser_1.cs 프로젝트: tsgouros/wv
 public static TransformRT[] parseMotionFileToRT(string filename)
 {
     double[][]    dat        = parseMotionFile(filename);
     TransformRT[] transforms = new TransformRT[15];
     for (int i = 0; i < 15; i++)
     {
         transforms[i] = new TransformRT();
         double[][] tempR = { dat[i * 4], dat[i * 4 + 1], dat[i * 4 + 2] };
         transforms[i].R = new GeneralMatrix(tempR, 3, 3);
         transforms[i].T = new GeneralMatrix(dat[i * 4 + 3], 1);
     }
     return(transforms);
 }
예제 #4
0
파일: DatParser_1.cs 프로젝트: tsgouros/wv
 public static TransformRT[] parseInertiaFileToRT(string filename)
 {
     double[][]    dat      = parseInertiaFile(filename);
     TransformRT[] inertias = new TransformRT[15];
     for (int i = 0; i < 15; i++)
     {
         inertias[i] = new TransformRT();
         double[][] tempR = { dat[i * 5 + 2], dat[i * 5 + 3], dat[i * 5 + 4] };
         inertias[i].R = new GeneralMatrix(tempR, 3, 3);
         inertias[i].T = new GeneralMatrix(dat[i * 5], 1);
     }
     return(inertias);
 }
예제 #5
0
파일: DatParser_1.cs 프로젝트: tsgouros/wv
        public static TransformRT[] parseRTFileWithHeaderToRT(string filename)
        {
            double[][] dat           = parseRTFileWithHeaderToDouble(filename);
            int        numTransforms = (int)dat.Length / 4;

            TransformRT[] transforms = new TransformRT[numTransforms];
            for (int i = 0; i < numTransforms; i++)
            {
                transforms[i] = new TransformRT();
                double[][] tempR = { dat[i * 4], dat[i * 4 + 1], dat[i * 4 + 2] };
                transforms[i].R = new GeneralMatrix(tempR, 3, 3);
                transforms[i].T = new GeneralMatrix(dat[i * 4 + 3], 1);
            }
            return(transforms);
        }
예제 #6
0
 public TransformMatrix(TransformRT rt) : base(4, 4)
 {
     this.setToIdentity();
     this.SetMatrix(0, 2, 0, 2, rt.R);             // set R
     this.SetMatrix(0, 2, 3, 3, rt.T.Transpose()); //set T, do I need to transpose first?
 }