homogen.cpp File Reference
Detailed Description
Homogen transformation functions.
Definition in file homogen.cpp.
#include "robot.h"
Include dependency graph for homogen.cpp:
Go to the source code of this file.
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Namespaces |
namespace | ROBOOP |
Functions |
ReturnMatrix | trans (const ColumnVector &a) |
| Translation.
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ReturnMatrix | rotx (const Real alpha) |
| Rotation around x axis.
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ReturnMatrix | roty (const Real beta) |
| Rotation around x axis.
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ReturnMatrix | rotz (const Real gamma) |
| Rotation around z axis.
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ReturnMatrix | rotk (const Real theta, const ColumnVector &k) |
| Rotation around arbitrary axis.
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ReturnMatrix | rpy (const ColumnVector &a) |
| Roll Pitch Yaw rotation.
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ReturnMatrix | eulzxz (const ColumnVector &a) |
| Euler ZXZ rotation.
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ReturnMatrix | rotd (const Real theta, const ColumnVector &k1, const ColumnVector &k2) |
| Rotation around an arbitrary line.
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ReturnMatrix | irotk (const Matrix &R) |
| Obtain axis from a rotation matrix.
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ReturnMatrix | irpy (const Matrix &R) |
| Obtain Roll, Pitch and Yaw from a rotation matrix.
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ReturnMatrix | ieulzxz (const Matrix &R) |
| Obtain Roll, Pitch and Yaw from a rotation matrix.
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Variables |
const char | rcsid [] = "$Id: homogen.cpp,v 1.4 2004/07/14 02:32:12 ejt Exp $" |
| RCS/CVS version.
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Function Documentation
ReturnMatrix ROBOOP::eulzxz |
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const ColumnVector & |
a |
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ReturnMatrix ROBOOP::ieulzxz |
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const Matrix & |
R |
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Obtain Roll, Pitch and Yaw from a rotation matrix.
Definition at line 286 of file homogen.cpp. |
ReturnMatrix ROBOOP::irotk |
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const Matrix & |
R |
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Obtain axis from a rotation matrix.
Definition at line 245 of file homogen.cpp. |
ReturnMatrix ROBOOP::irpy |
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const Matrix & |
R |
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Obtain Roll, Pitch and Yaw from a rotation matrix.
Definition at line 263 of file homogen.cpp. |
ReturnMatrix ROBOOP::rotd |
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const Real |
theta, |
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const ColumnVector & |
k1, |
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const ColumnVector & |
k2 |
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Rotation around an arbitrary line.
Definition at line 232 of file homogen.cpp. |
ReturnMatrix ROBOOP::rotk |
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const Real |
theta, |
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const ColumnVector & |
k |
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ReturnMatrix ROBOOP::rotx |
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const Real |
alpha |
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Rotation around x axis.
Definition at line 79 of file homogen.cpp. |
ReturnMatrix ROBOOP::roty |
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const Real |
beta |
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Rotation around x axis.
Definition at line 99 of file homogen.cpp. |
ReturnMatrix ROBOOP::rotz |
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const Real |
gamma |
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ReturnMatrix ROBOOP::rpy |
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const ColumnVector & |
a |
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ReturnMatrix ROBOOP::trans |
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const ColumnVector & |
a |
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Variable Documentation
const char rcsid[] = "$Id: homogen.cpp,v 1.4 2004/07/14 02:32:12 ejt Exp $" [static] |
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