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