Homogen transformation functions. More...
#include "utils.h"
Go to the source code of this file.
Functions | |
| ReturnMatrix | eulzxz (const ColumnVector &a) |
| Euler ZXZ rotation. | |
| ReturnMatrix | ieulzxz (const Matrix &R) |
| Obtain Roll, Pitch and Yaw from a rotation matrix. | |
| 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 | rotd (const Real theta, const ColumnVector &k1, const ColumnVector &k2) |
| Rotation around an arbitrary line. | |
| ReturnMatrix | rotk (const Real theta, const ColumnVector &k) |
| Rotation around arbitrary axis. | |
| 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 | rpy (const ColumnVector &a) |
| Roll Pitch Yaw rotation. | |
| ReturnMatrix | trans (const ColumnVector &a) |
| Translation. | |
Variables | |
| static const char | rcsid [] = "$Id: homogen.cpp,v 1.15 2006/11/15 18:35:17 gourdeau Exp $" |
| RCS/CVS version. | |
Detailed Description
Homogen transformation functions.
Definition in file homogen.cpp.
Function Documentation
| ReturnMatrix eulzxz | ( | const ColumnVector & | a | ) |
Euler ZXZ rotation.
Definition at line 211 of file homogen.cpp.
| ReturnMatrix ieulzxz | ( | const Matrix & | R | ) |
Obtain Roll, Pitch and Yaw from a rotation matrix.
Definition at line 294 of file homogen.cpp.
| ReturnMatrix irotk | ( | const Matrix & | R | ) |
Obtain axis from a rotation matrix.
Definition at line 253 of file homogen.cpp.
| ReturnMatrix irpy | ( | const Matrix & | R | ) |
Obtain Roll, Pitch and Yaw from a rotation matrix.
Definition at line 271 of file homogen.cpp.
Rotation around an arbitrary line.
Definition at line 240 of file homogen.cpp.
Rotation around arbitrary axis.
Definition at line 149 of file homogen.cpp.
Rotation around x axis.
Definition at line 87 of file homogen.cpp.
Rotation around x axis.
Definition at line 107 of file homogen.cpp.
Rotation around z axis.
Definition at line 127 of file homogen.cpp.
| ReturnMatrix rpy | ( | const ColumnVector & | a | ) |
Roll Pitch Yaw rotation.
Definition at line 182 of file homogen.cpp.
| ReturnMatrix trans | ( | const ColumnVector & | a | ) |
Translation.
Definition at line 68 of file homogen.cpp.
Variable Documentation
const char rcsid[] = "$Id: homogen.cpp,v 1.15 2006/11/15 18:35:17 gourdeau Exp $" [static] |
RCS/CVS version.
Definition at line 58 of file homogen.cpp.