sbpl_arm_planner: sbpl_math.h Source File

00001 /*
00002   Prepared by Gokul Subramanian, MSE, MEAM 2011
00003   Working under Professor Maxim Likhachev
00004   At The University of Pennsylvania
00005   ---14/04/2010---
00006 */
00007 
00008 #include <math.h>
00009 #include <vector>
00010 
00011 #ifndef _SBPL_MATH_
00012 #define _SBPL_MATH_
00013 
00014 /* Basic Operations */
00015 void multiply(double*, double*, int, int, double*, int);
00016 void scalar_multiply(double*, double*, int, int, double);
00017 void equate(double*, double*, int, int);
00018 void matrix_add(double*, double*, double*, int, int);
00019 void subtract(double*, double*, double*, int, int);
00020 void transpose(double*, double*, int, int);
00021 
00022 /* Vector Operations */
00023 double dot_product(double*, double*, int);
00024 void cross_product(double*, double*, double*);
00025 double vect_norm(double*, int);
00026 double vect_divide(double*, double*, int);
00027 bool check_equality(double*, double*, int);
00028 
00029 /* 3D Geometry */
00030 void create_rotation_matrix(double*, double, double, double);
00031 void rotate_vector(double (&result)[3], double*, double*, double);
00032 double distance_between(double*,  double*, int);
00033 double distance_between(std::vector<double>, double*, int);
00034 
00035 
00036 #endif