Interface InvertibleTransform<T extends InvertibleTransform>

All Superinterfaces:
Serializable
All Known Subinterfaces:
Affine<T>, Homography<T>, SpecialEuclidean<T>
All Known Implementing Classes:
Affine2D_F32, Affine2D_F64, Homography2D_F32, Homography2D_F64, Se2_F32, Se2_F64, Se3_F32, Se3_F64, So3_F32, So3_F64

public interface InvertibleTransform<T extends InvertibleTransform>
extends Serializable

Any transform which has an unique inverse. T(u) = v and u = T-1(v).

Functions are provided to determining the dimensionality of the transform, inverting the transform, and concating two transforms.

Design Note: A function to apply the transform has not been provided to any data structures (e.g. GeoTuple). Instead that has been pushed off onto specialized static functions in other classes due to the large number of needed functions.

  • Method Summary

    Modifier and Type Method Description
    T concat​(T second, T result)
    Computes a transform which is the equivalent to applying 'this' then the 'second' transform.
    T createInstance()
    Creates a new instance of the same SpecialEuclidean as this class.
    int getDimension()
    Returns the dimension of the space which this transform operates on.
    T invert​(T inverse)
    Computes a transform which is the inverse of this transform.
    void reset()
    Sets the transform to its initial state of no transform.
    void setTo​(T target)
    Assigns 'this' to the value of target.
  • Method Details

    • getDimension

      int getDimension()
      Returns the dimension of the space which this transform operates on.
      Returns:
      space's dimension
    • createInstance

      T createInstance()
      Creates a new instance of the same SpecialEuclidean as this class.
      Returns:
      A new instance.
    • setTo

      void setTo​(T target)
      Assigns 'this' to the value of target.
      Parameters:
      target - The new value of 'this'.
    • concat

      T concat​(T second, @Nullable T result)

      Computes a transform which is the equivalent to applying 'this' then the 'second' transform.

      For example:

      Point A = tran2( tran1( A ) );
      Point A = tran12( A );

      where tran12 = tran1.concat( tran2 , null );

      NOTE: 'second', 'result', and 'this' must all be unique instances.

      Parameters:
      second - The second transform which is applied. Not modified.
      result - A transform which is equivalent to applying the first then the second. If null then a new instance is declared. Modified.
      Returns:
      The equivalent transform.
    • invert

      T invert​(@Nullable T inverse)

      Computes a transform which is the inverse of this transform. The 'this' matrix can be passed in as an input.

      Example:
      Point A = tran(B);
      Point B = inv(A);

      where inv = invert( tran );

      Parameters:
      inverse - Where the inverse will be stored. If null a new instance is created. Modified.
      Returns:
      The inverse transform.
    • reset

      void reset()
      Sets the transform to its initial state of no transform.