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  <div class="section" id="frame-functions">
<span id="id1"></span><h1>Frame Functions<a class="headerlink" href="#frame-functions" title="Permalink to this headline">¶</a></h1>
<p>Functions to compute coordinate frames.</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1">#include &lt;Imath/ImathFrame.h&gt;</span>
</pre></div>
</div>
<dl class="cpp function">
<dt id="_CPPv4I0EN5Imath10firstFrameE8Matrix44I1TERK4Vec3I1TERK4Vec3I1TERK4Vec3I1TE">
<span id="_CPPv3I0EN5Imath10firstFrameERK4Vec3I1TERK4Vec3I1TERK4Vec3I1TE"></span><span id="_CPPv2I0EN5Imath10firstFrameERK4Vec3I1TERK4Vec3I1TERK4Vec3I1TE"></span>template&lt;class <code class="sig-name descname">T</code>&gt;<br /><span class="target" id="_imath_frame_8h_1a7af07fdeaf3bdb5d5584cde475fc4208"></span><em class="property">constexpr</em> <a class="reference internal" href="../classes/Matrix44.html#_CPPv4I0EN5Imath8Matrix44E" title="Imath::Matrix44">Matrix44</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath10firstFrameE8Matrix44I1TERK4Vec3I1TERK4Vec3I1TERK4Vec3I1TE" title="Imath::firstFrame::T">T</a>&gt; <code class="sig-prename descclassname">Imath<code class="sig-prename descclassname">::</code></code><code class="sig-name descname">firstFrame</code><span class="sig-paren">(</span><em class="property">const</em> <a class="reference internal" href="../classes/Vec3.html#_CPPv4I0EN5Imath4Vec3E" title="Imath::Vec3">Vec3</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath10firstFrameE8Matrix44I1TERK4Vec3I1TERK4Vec3I1TERK4Vec3I1TE" title="Imath::firstFrame::T">T</a>&gt; &amp;<em>pi</em>, <em class="property">const</em> <a class="reference internal" href="../classes/Vec3.html#_CPPv4I0EN5Imath4Vec3E" title="Imath::Vec3">Vec3</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath10firstFrameE8Matrix44I1TERK4Vec3I1TERK4Vec3I1TERK4Vec3I1TE" title="Imath::firstFrame::T">T</a>&gt; &amp;<em>pj</em>, <em class="property">const</em> <a class="reference internal" href="../classes/Vec3.html#_CPPv4I0EN5Imath4Vec3E" title="Imath::Vec3">Vec3</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath10firstFrameE8Matrix44I1TERK4Vec3I1TERK4Vec3I1TERK4Vec3I1TE" title="Imath::firstFrame::T">T</a>&gt; &amp;<em>pk</em><span class="sig-paren">)</span> <em class="property">noexcept</em><a class="headerlink" href="#_CPPv4I0EN5Imath10firstFrameE8Matrix44I1TERK4Vec3I1TERK4Vec3I1TERK4Vec3I1TE" title="Permalink to this definition">¶</a><br /></dt>
<dd><p>Compute the first reference frame along a curve. </p>
<p>This function returns the transformation matrix to the reference frame defined by the three points <code class="docutils literal notranslate"><span class="pre">pi</span></code>, <code class="docutils literal notranslate"><span class="pre">pj</span></code> and <code class="docutils literal notranslate"><span class="pre">pk</span></code>. Note that if the two vectors &lt;<code class="docutils literal notranslate"><span class="pre">pi</span></code>,<code class="docutils literal notranslate"><span class="pre">pj</span></code>&gt; and &lt;<code class="docutils literal notranslate"><span class="pre">pi</span></code>,<code class="docutils literal notranslate"><span class="pre">pk</span></code>&gt; are colinears, an arbitrary twist value will be choosen.</p>
<p>Throw <code class="docutils literal notranslate"><span class="pre">std::domain_error</span></code> if <code class="docutils literal notranslate"><span class="pre">pi</span></code> and <code class="docutils literal notranslate"><span class="pre">pj</span></code> are equal.</p>
<p><dl class="simple">
<dt><strong>Parameters</strong></dt><dd><ul class="breatheparameterlist simple">
<li><p><code class="docutils literal notranslate"><span class="pre">pi</span></code>: First point </p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">pj</span></code>: Second point </p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">pk</span></code>: Third point </p></li>
</ul>
</dd>
</dl>
</p>
</dd></dl>

<dl class="cpp function">
<dt id="_CPPv4I0EN5Imath9nextFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TER4Vec3I1TER4Vec3I1TE">
<span id="_CPPv3I0EN5Imath9nextFrameERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TER4Vec3I1TER4Vec3I1TE"></span><span id="_CPPv2I0EN5Imath9nextFrameERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TER4Vec3I1TER4Vec3I1TE"></span>template&lt;class <code class="sig-name descname">T</code>&gt;<br /><span class="target" id="_imath_frame_8h_1a84af9e313c9efcca5c27d347f1afdf49"></span><em class="property">constexpr</em> <a class="reference internal" href="../classes/Matrix44.html#_CPPv4I0EN5Imath8Matrix44E" title="Imath::Matrix44">Matrix44</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath9nextFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TER4Vec3I1TER4Vec3I1TE" title="Imath::nextFrame::T">T</a>&gt; <code class="sig-prename descclassname">Imath<code class="sig-prename descclassname">::</code></code><code class="sig-name descname">nextFrame</code><span class="sig-paren">(</span><em class="property">const</em> <a class="reference internal" href="../classes/Matrix44.html#_CPPv4I0EN5Imath8Matrix44E" title="Imath::Matrix44">Matrix44</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath9nextFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TER4Vec3I1TER4Vec3I1TE" title="Imath::nextFrame::T">T</a>&gt; &amp;<em>Mi</em>, <em class="property">const</em> <a class="reference internal" href="../classes/Vec3.html#_CPPv4I0EN5Imath4Vec3E" title="Imath::Vec3">Vec3</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath9nextFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TER4Vec3I1TER4Vec3I1TE" title="Imath::nextFrame::T">T</a>&gt; &amp;<em>pi</em>, <em class="property">const</em> <a class="reference internal" href="../classes/Vec3.html#_CPPv4I0EN5Imath4Vec3E" title="Imath::Vec3">Vec3</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath9nextFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TER4Vec3I1TER4Vec3I1TE" title="Imath::nextFrame::T">T</a>&gt; &amp;<em>pj</em>, <a class="reference internal" href="../classes/Vec3.html#_CPPv4I0EN5Imath4Vec3E" title="Imath::Vec3">Vec3</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath9nextFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TER4Vec3I1TER4Vec3I1TE" title="Imath::nextFrame::T">T</a>&gt; &amp;<em>ti</em>, <a class="reference internal" href="../classes/Vec3.html#_CPPv4I0EN5Imath4Vec3E" title="Imath::Vec3">Vec3</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath9nextFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TER4Vec3I1TER4Vec3I1TE" title="Imath::nextFrame::T">T</a>&gt; &amp;<em>tj</em><span class="sig-paren">)</span> <em class="property">noexcept</em><a class="headerlink" href="#_CPPv4I0EN5Imath9nextFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TER4Vec3I1TER4Vec3I1TE" title="Permalink to this definition">¶</a><br /></dt>
<dd><p>Compute the next reference frame along a curve. </p>
<p>This function returns the transformation matrix to the next reference frame defined by the previously computed transformation matrix and the new point and tangent vector along the curve.</p>
<p><dl class="simple">
<dt><strong>Parameters</strong></dt><dd><ul class="breatheparameterlist simple">
<li><p><code class="docutils literal notranslate"><span class="pre">Mi</span></code>: The previous matrix </p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">pi</span></code>: The previous point </p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">pj</span></code>: The current point </p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">ti</span></code>: The previous tangent vector </p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">tj</span></code>: The current tangent vector </p></li>
</ul>
</dd>
</dl>
</p>
</dd></dl>

<dl class="cpp function">
<dt id="_CPPv4I0EN5Imath9lastFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TE">
<span id="_CPPv3I0EN5Imath9lastFrameERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TE"></span><span id="_CPPv2I0EN5Imath9lastFrameERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TE"></span>template&lt;class <code class="sig-name descname">T</code>&gt;<br /><span class="target" id="_imath_frame_8h_1a1c87d825f9b3ac91bff1691402033ea2"></span><em class="property">constexpr</em> <a class="reference internal" href="../classes/Matrix44.html#_CPPv4I0EN5Imath8Matrix44E" title="Imath::Matrix44">Matrix44</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath9lastFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TE" title="Imath::lastFrame::T">T</a>&gt; <code class="sig-prename descclassname">Imath<code class="sig-prename descclassname">::</code></code><code class="sig-name descname">lastFrame</code><span class="sig-paren">(</span><em class="property">const</em> <a class="reference internal" href="../classes/Matrix44.html#_CPPv4I0EN5Imath8Matrix44E" title="Imath::Matrix44">Matrix44</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath9lastFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TE" title="Imath::lastFrame::T">T</a>&gt; &amp;<em>Mi</em>, <em class="property">const</em> <a class="reference internal" href="../classes/Vec3.html#_CPPv4I0EN5Imath4Vec3E" title="Imath::Vec3">Vec3</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath9lastFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TE" title="Imath::lastFrame::T">T</a>&gt; &amp;<em>pi</em>, <em class="property">const</em> <a class="reference internal" href="../classes/Vec3.html#_CPPv4I0EN5Imath4Vec3E" title="Imath::Vec3">Vec3</a>&lt;<a class="reference internal" href="#_CPPv4I0EN5Imath9lastFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TE" title="Imath::lastFrame::T">T</a>&gt; &amp;<em>pj</em><span class="sig-paren">)</span> <em class="property">noexcept</em><a class="headerlink" href="#_CPPv4I0EN5Imath9lastFrameE8Matrix44I1TERK8Matrix44I1TERK4Vec3I1TERK4Vec3I1TE" title="Permalink to this definition">¶</a><br /></dt>
<dd><p>Compute the last reference frame along a curve. </p>
<p>This function returns the transformation matrix to the last reference frame defined by the previously computed transformation matrix and the last point along the curve.</p>
<p><dl class="simple">
<dt><strong>Parameters</strong></dt><dd><ul class="breatheparameterlist simple">
<li><p><code class="docutils literal notranslate"><span class="pre">Mi</span></code>: The previous matrix </p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">pi</span></code>: The previous point </p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">pj</span></code>: The last point </p></li>
</ul>
</dd>
</dl>
</p>
</dd></dl>

</div>


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