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homogen.cpp File Reference


Detailed Description

Homogen transformation functions.

Definition in file homogen.cpp.

#include "robot.h"

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Namespaces

namespace  ROBOOP

Functions

ReturnMatrix trans (const ColumnVector &a)
 Translation.
ReturnMatrix rotx (const Real alpha)
 Rotation around x axis.
ReturnMatrix roty (const Real beta)
 Rotation around x axis.
ReturnMatrix rotz (const Real gamma)
 Rotation around z axis.
ReturnMatrix rotk (const Real theta, const ColumnVector &k)
 Rotation around arbitrary axis.
ReturnMatrix rpy (const ColumnVector &a)
 Roll Pitch Yaw rotation.
ReturnMatrix eulzxz (const ColumnVector &a)
 Euler ZXZ rotation.
ReturnMatrix rotd (const Real theta, const ColumnVector &k1, const ColumnVector &k2)
 Rotation around an arbitrary line.
ReturnMatrix irotk (const Matrix &R)
 Obtain axis from a rotation matrix.
ReturnMatrix irpy (const Matrix &R)
 Obtain Roll, Pitch and Yaw from a rotation matrix.
ReturnMatrix ieulzxz (const Matrix &R)
 Obtain Roll, Pitch and Yaw from a rotation matrix.

Variables

const char rcsid [] = "$Id: homogen.cpp,v 1.4 2004/07/14 02:32:12 ejt Exp $"
 RCS/CVS version.


Function Documentation

ReturnMatrix ROBOOP::eulzxz const ColumnVector &  a  ) 
 

Euler ZXZ rotation.

Definition at line 203 of file homogen.cpp.

ReturnMatrix ROBOOP::ieulzxz const Matrix &  R  ) 
 

Obtain Roll, Pitch and Yaw from a rotation matrix.

Definition at line 286 of file homogen.cpp.

ReturnMatrix ROBOOP::irotk const Matrix &  R  ) 
 

Obtain axis from a rotation matrix.

Definition at line 245 of file homogen.cpp.

ReturnMatrix ROBOOP::irpy const Matrix &  R  ) 
 

Obtain Roll, Pitch and Yaw from a rotation matrix.

Definition at line 263 of file homogen.cpp.

ReturnMatrix ROBOOP::rotd const Real  theta,
const ColumnVector &  k1,
const ColumnVector &  k2
 

Rotation around an arbitrary line.

Definition at line 232 of file homogen.cpp.

ReturnMatrix ROBOOP::rotk const Real  theta,
const ColumnVector &  k
 

Rotation around arbitrary axis.

Definition at line 141 of file homogen.cpp.

Referenced by ROBOOP::rotd().

ReturnMatrix ROBOOP::rotx const Real  alpha  ) 
 

Rotation around x axis.

Definition at line 79 of file homogen.cpp.

ReturnMatrix ROBOOP::roty const Real  beta  ) 
 

Rotation around x axis.

Definition at line 99 of file homogen.cpp.

ReturnMatrix ROBOOP::rotz const Real  gamma  ) 
 

Rotation around z axis.

Definition at line 119 of file homogen.cpp.

ReturnMatrix ROBOOP::rpy const ColumnVector &  a  ) 
 

Roll Pitch Yaw rotation.

Definition at line 174 of file homogen.cpp.

ReturnMatrix ROBOOP::trans const ColumnVector &  a  ) 
 

Translation.

Definition at line 59 of file homogen.cpp.

Referenced by ROBOOP::rotd().


Variable Documentation

const char rcsid[] = "$Id: homogen.cpp,v 1.4 2004/07/14 02:32:12 ejt Exp $" [static]
 

RCS/CVS version.

Definition at line 49 of file homogen.cpp.


ROBOOP v1.21a
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