descartes_core::utils Namespace Reference

Namespaces
namespace	EulerConventions
	Converts scalar translations and rotations to an Eigen Frame. This is achieved by chaining a translation with individual euler rotations in ZYX order (this is equivalent to fixed rotatins XYZ) http://en.wikipedia.org/wiki/Euler_angles#Conversion_between_intrinsic_and_extrinsic_rotations.
Typedefs
typedef EulerConventions::EulerConvention	EulerConvention
Functions
static bool	equal (const std::vector< double > &lhs, const std::vector< double > &rhs, const double tol)
static Eigen::Affine3d	toFrame (double tx, double ty, double tz, double rx, double ry, double rz, int convention=int(EulerConventions::ZYX))

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Typedef Documentation

typedef EulerConventions::EulerConvention descartes_core::utils::EulerConvention

Definition at line 56 of file utils.h.

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Function Documentation

static bool descartes_core::utils::equal	(	const std::vector< double > &	lhs,
		const std::vector< double > &	rhs,
		const double	tol
	)		[static]

Compares two vectors for equality (within +/- tolerance). abs(lhs - rhs) > tol

Parameters:

lhs
rhs
tol	+/- tolerance for floating point equality

Definition at line 102 of file utils.h.

static Eigen::Affine3d descartes_core::utils::toFrame	(	double	tx,
		double	ty,
		double	tz,
		double	rx,
		double	ry,
		double	rz,
		int	convention = int(EulerConventions::ZYX)
	)		[static]

Definition at line 58 of file utils.h.