added missing files

VirtualRobot/math/TransformedFunctionR1R3.cpp

+/**
+ * This file is part of Simox.
+ *
+ * Simox is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * Simox is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Simon Ottenhaus (simon dot ottenhaus at kit dot edu)
+ * @copyright  2018 Simon Ottenhaus
+ *             GNU Lesser General Public License
+ */
+
+
+#include "TransformedFunctionR1R3.h"
+#include "Helpers.h"
+
+using namespace math;
+
+
+
+TransformedFunctionR1R3::TransformedFunctionR1R3(const Eigen::Matrix4f& transformation, AbstractFunctionR1R3Ptr func)
+    : transformation(transformation), func(func)
+{
+
+}
+
+
+Eigen::Vector3f TransformedFunctionR1R3::Get(float t)
+{
+    return Helpers::TransformPosition(transformation, func->Get(t));
+}
+
+Eigen::Vector3f TransformedFunctionR1R3::GetDerivative(float t)
+{
+    return Helpers::TransformDirection(transformation, func->GetDerivative(t));
+}

VirtualRobot/math/TransformedFunctionR1R3.h

+/**
+ * This file is part of Simox.
+ *
+ * Simox is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * Simox is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Simon Ottenhaus (simon dot ottenhaus at kit dot edu)
+ * @copyright  2018 Simon Ottenhaus
+ *             GNU Lesser General Public License
+ */
+
+#pragma once
+
+
+#include "AbstractFunctionR1R3.h"
+
+
+namespace math
+{
+    class TransformedFunctionR1R3 :
+            public AbstractFunctionR1R3
+    {
+    public:
+        TransformedFunctionR1R3(const Eigen::Matrix4f& transformation, AbstractFunctionR1R3Ptr func);
+        Eigen::Vector3f Get(float t) override;
+        Eigen::Vector3f GetDerivative(float t) override;
+
+    private:
+        const Eigen::Matrix4f transformation;
+        const AbstractFunctionR1R3Ptr func;
+    };
+}
+

VirtualRobot/math/TransformedFunctionR2R3.cpp

+/**
+ * This file is part of Simox.
+ *
+ * Simox is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * Simox is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Simon Ottenhaus (simon dot ottenhaus at kit dot edu)
+ * @copyright  2018 Simon Ottenhaus
+ *             GNU Lesser General Public License
+ */
+
+
+#include "TransformedFunctionR2R3.h"
+#include "Helpers.h"
+
+using namespace math;
+
+
+
+TransformedFunctionR2R3::TransformedFunctionR2R3(const Eigen::Matrix4f& transformation, AbstractFunctionR2R3Ptr func)
+    : transformation(transformation), inv(transformation.inverse()), func(func)
+{
+
+}
+
+
+
+Eigen::Vector3f math::TransformedFunctionR2R3::GetPoint(float u, float v)
+{
+    return Helpers::TransformPosition(transformation, func->GetPoint(u, v));
+}
+
+Eigen::Vector3f math::TransformedFunctionR2R3::GetDdu(float u, float v)
+{
+    return Helpers::TransformDirection(transformation, func->GetDdu(u, v));
+}
+
+Eigen::Vector3f math::TransformedFunctionR2R3::GetDdv(float u, float v)
+{
+    return Helpers::TransformDirection(transformation, func->GetDdv(u, v));
+}
+
+void math::TransformedFunctionR2R3::GetUV(Eigen::Vector3f pos, float& u, float& v)
+{
+    func->GetUV(Helpers::TransformPosition(inv, pos), u, v);
+}

VirtualRobot/math/TransformedFunctionR2R3.h

+/**
+ * This file is part of Simox.
+ *
+ * Simox is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * Simox is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Simon Ottenhaus (simon dot ottenhaus at kit dot edu)
+ * @copyright  2018 Simon Ottenhaus
+ *             GNU Lesser General Public License
+ */
+
+#pragma once
+
+#include "AbstractFunctionR2R3.h"
+
+
+
+namespace math
+{
+    class TransformedFunctionR2R3 :
+            public AbstractFunctionR2R3
+    {
+    public:
+        TransformedFunctionR2R3(const Eigen::Matrix4f& transformation, AbstractFunctionR2R3Ptr func);
+
+        Eigen::Vector3f GetPoint(float u, float v) override;
+        Eigen::Vector3f GetDdu(float u, float v) override;
+        Eigen::Vector3f GetDdv(float u, float v) override;
+        void GetUV(Eigen::Vector3f pos, float& u, float& v) override;
+
+    private:
+        const Eigen::Matrix4f transformation;
+        const Eigen::Matrix4f inv;
+        const AbstractFunctionR2R3Ptr func;
+
+    };
+}
+