Mathematical functions. More...

#include <vecmath.h>

Static Public Member Functions
static void	calcAngles (double leg1, double leg2, double x, double y, double &first, double &second)
	Calculates inverse kinematics of a standard two link leg. More...

static double	calcDotProduct (double firstVector[], double secondVector[], int size)
	Calculates dot product of two double vectors of the stated size. More...

static void	calcMatrixResult (double matrix[], double vector[], int rows, int columns, double resultVector[])
	Calculates vector-matrix product. More...

static void	getEulerZXZ (CMatrix &mat, CVec &first)
	Transforms homogenous matrix into Euler angle (YZX) representation (two solutions) More...

static void	getMatrixFromRotation (CMatrix &mat, const CVec &axis, double angle)
	Transforms axis-angle representation into homogenous matrix representation. More...

static void	getOrientation (CMatrix &mat, CVec &first, CVec &second, bool old=false)
	Transforms homogenous matrix into Euler angle (YZX) representation (two solutions) More...

static void	getQuaternionFromRotation (CVec &quater, CVec &axis, double angle)

static void	getRotation (CMatrix &mat, CVec &vec, bool old=false)
	ransforms Euler angle (YZX) representation into homogenous matrix representation More...

static void	getRotation (CMatrix &mat, double x, double y, double z, bool old=false)
	Transforms Euler angle (YZX) representation into homogenous matrix representation. More...

static void	getRotationFromMatrix (const CMatrix &mat, CVec &axis, double &angle)
	Transforms homogenous matrix into axis-angle representation. More...

static void	matrixFromQuaternion (CVec &quaternion, CMatrix &matrix)
	Transforms a quaternion into homogenous matrix representation. More...

static void	multiplyMatrices (double firstMatrix, double secondMatrix, int firstRows, int firstColumns, int secondColumns, double *resultMatrix)
	Multiplies two matrices. More...

static void	quaternionFromMatrix (const CMatrix &mat, CVec &quaternion)
	Transforms a homogenous matrix into quaternion representation. More...

static void	transposeMatrix (double matrix, double resultMatrix, int size)
	Transposes a matrix. More...

Detailed Description

Mathematical functions.

Definition at line 275 of file vecmath.h.

Member Function Documentation

void robotLibPbD::CMathLib::calcAngles	(	double	leg1,
		double	leg2,
		double	x,
		double	y,
		double &	first,
		double &	second
	)

static

Calculates inverse kinematics of a standard two link leg.

Parameters

leg1	Length of leg connected to base
leg2	Length of leg connected to hand
x	Cartesian x position of hand
y	Cartesian y position of hand
first	Angle between base and leg1
second	Angle between leg1 and leg2 (elbow)

Definition at line 756 of file vecmath.cpp.

double robotLibPbD::CMathLib::calcDotProduct	(	double	firstVector[],
		double	secondVector[],
		int	size
	)

static

Calculates dot product of two double vectors of the stated size.

Definition at line 511 of file vecmath.cpp.

void robotLibPbD::CMathLib::calcMatrixResult	(	double	matrix[],
		double	vector[],
		int	rows,
		int	columns,
		double	resultVector[]
	)

static

Calculates vector-matrix product.

Parameters

resultVector Has to be allocated

Definition at line 499 of file vecmath.cpp.

void robotLibPbD::CMathLib::getEulerZXZ	(	CMatrix &	mat,
		CVec &	first
	)

static

Transforms homogenous matrix into Euler angle (YZX) representation (two solutions)

Definition at line 618 of file vecmath.cpp.

void robotLibPbD::CMathLib::getMatrixFromRotation	(	CMatrix &	mat,
		const CVec &	axis,
		double	angle
	)

static

Transforms axis-angle representation into homogenous matrix representation.

Definition at line 409 of file vecmath.cpp.

void robotLibPbD::CMathLib::getOrientation	(	CMatrix &	mat,
		CVec &	first,
		CVec &	second,
		bool	old = `false`
	)

static

Transforms homogenous matrix into Euler angle (YZX) representation (two solutions)

Definition at line 642 of file vecmath.cpp.

void robotLibPbD::CMathLib::getQuaternionFromRotation	(	CVec &	quater,
		CVec &	axis,
		double	angle
	)

static

Definition at line 436 of file vecmath.cpp.

void robotLibPbD::CMathLib::getRotation	(	CMatrix &	mat,
		CVec &	vec,
		bool	old = `false`
	)

static

ransforms Euler angle (YZX) representation into homogenous matrix representation

See also: getRotation

Definition at line 750 of file vecmath.cpp.

void robotLibPbD::CMathLib::getRotation	(	CMatrix &	mat,
		double	x,
		double	y,
		double	z,
		bool	old = `false`
	)

static

Transforms Euler angle (YZX) representation into homogenous matrix representation.

Definition at line 692 of file vecmath.cpp.

void robotLibPbD::CMathLib::getRotationFromMatrix	(	const CMatrix &	mat,
		CVec &	axis,
		double &	angle
	)

static

Transforms homogenous matrix into axis-angle representation.

Definition at line 463 of file vecmath.cpp.

void robotLibPbD::CMathLib::matrixFromQuaternion	(	CVec &	quaternion,
		CMatrix &	matrix
	)

static

Transforms a quaternion into homogenous matrix representation.

Definition at line 372 of file vecmath.cpp.

void robotLibPbD::CMathLib::multiplyMatrices	(	double *	firstMatrix,
		double *	secondMatrix,
		int	firstRows,
		int	firstColumns,
		int	secondColumns,
		double *	resultMatrix
	)

static

Multiplies two matrices.

Parameters

resultMatrix Has to be allocated

Definition at line 579 of file vecmath.cpp.

void robotLibPbD::CMathLib::quaternionFromMatrix	(	const CMatrix &	mat,
		CVec &	quaternion
	)

static

Transforms a homogenous matrix into quaternion representation.

Parameters

quaternion XYZ is the rotation axis part, W the angle part

Definition at line 525 of file vecmath.cpp.

void robotLibPbD::CMathLib::transposeMatrix	(	double *	matrix,
		double *	resultMatrix,
		int	size
	)

static

Transposes a matrix.

Set resultMatrix to matrix if you want to transpose the matrix

Parameters

resultMatrix Has to be allocated

Definition at line 565 of file vecmath.cpp.

The documentation for this class was generated from the following files:

Static Public Member Functions

Detailed Description

Member Function Documentation