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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.

Namespaces

namespace  ROBOOP

Functions

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


ROBOOP v1.21a
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