#include <iostream>#include <cmath>#include <rdl_dynamics/Quaternion.h>#include "rdl_dynamics/rdl_eigenmath.h"
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Namespaces | |
| RobotDynamics | |
| Namespace for all structures of the RobotDynamics library. | |
| RobotDynamics::Math | |
| Math types such as vectors and matrices and utility functions. | |
Functions | |
| SpatialMatrix | RobotDynamics::Math::crossf (const SpatialVector &v) |
| Get the spatial force cross matrix. More... | |
| SpatialVector | RobotDynamics::Math::crossf (const SpatialVector &v1, const SpatialVector &v2) |
| Spatial motion cross spatial force. More... | |
| SpatialMatrix | RobotDynamics::Math::crossm (const SpatialVector &v) |
| Get the spatial motion cross matrix. More... | |
| SpatialVector | RobotDynamics::Math::crossm (const SpatialVector &v1, const SpatialVector &v2) |
| Spatial motion cross times spatial motion. More... | |
| Vector3d | RobotDynamics::Math::getLinearPartTransformed (const SpatialVector &v, const SpatialTransform &X) |
| Get the rotated linear portion of the spatial vector. More... | |
| static Quaternion | RobotDynamics::Math::intrinsicXYZAnglesToQuaternion (double roll, double pitch, double yaw) |
| Convert RPY angles to quaternion. More... | |
| static Quaternion | RobotDynamics::Math::intrinsicXYZAnglesToQuaternion (const Vector3d &xyz_angles) |
| Convert RPY angles to quaternion. More... | |
| static Quaternion | RobotDynamics::Math::intrinsicYXZAnglesToQuaternion (double pitch, double roll, double yaw) |
| Convert PRY angles to quaternion. More... | |
| static Quaternion | RobotDynamics::Math::intrinsicYXZAnglesToQuaternion (const Vector3d &yxz_angles) |
| Convert PRY angles to quaternion. More... | |
| static Quaternion | RobotDynamics::Math::intrinsicZYXAnglesToQuaternion (double yaw, double pitch, double roll) |
| Convert YPR angles to quaternion. More... | |
| static Quaternion | RobotDynamics::Math::intrinsicZYXAnglesToQuaternion (const Vector3d &zyx_angles) |
| Convert YPR angles to quaternion. More... | |
| std::ostream & | RobotDynamics::Math::operator<< (std::ostream &output, const SpatialTransform &X) |
| static AxisAngle | RobotDynamics::Math::toAxisAngle (Quaternion q) |
| Get axis angle representation of a quaternion. More... | |
| static Vector3d | RobotDynamics::Math::toIntrinsicZYXAngles (const Quaternion &q, double yaw_at_pitch_singularity=0.) |
| Converte quaternion to intrinsic ZYX euler angles. More... | |
| static Vector3d | RobotDynamics::Math::toIntrinsicZYXAngles (const Matrix3d &m, double yaw_at_pitch_singularity=0.) |
| Convert rotation matrix to intrinsic ZYX euler angles. More... | |
| static Matrix3d | RobotDynamics::Math::toMatrix (const Quaternion &q) |
| Convert quaternion to rotation matrix. More... | |
| static Quaternion | RobotDynamics::Math::toQuaternion (const Vector3d &axis, double angle_rad) |
| Get quaternion representation of axis and angle. More... | |
| static Quaternion | RobotDynamics::Math::toQuaternion (const AxisAngle &axisAngle) |
| Convert axis angle to quaternion. More... | |
| static Quaternion | RobotDynamics::Math::toQuaternion (const Matrix3d &mat) |
| convert rotation matrix to quaternion More... | |
| static Matrix3d | RobotDynamics::Math::toTildeForm (const Vector3d &vector) |
Create a skew symmetric matrix, m, from a 3d vector such that, given two vectors  and  , a 3rd vector which is the cross product of the first two is given by,  . The  operator is referred to in Featherstones RBDA as the 3d vector cross(  ) operator. More... | |
| static Matrix3d | RobotDynamics::Math::toTildeForm (const double x, const double y, const double z) |
| SpatialTransform | RobotDynamics::Math::XeulerXYZ (double roll, double pitch, double yaw) |
| Get transform with zero translation and intrinsic euler x/y/z rotation. More... | |
| SpatialTransform | RobotDynamics::Math::XeulerXYZ (const Vector3d &xyz_angles) |
| Get transform with zero translation and euler x/y/z rotation. More... | |
| SpatialTransform | RobotDynamics::Math::XeulerZYX (double yaw, double pitch, double roll) |
| Get transform with zero translation and intrinsic euler z/y/x rotation. More... | |
| SpatialTransform | RobotDynamics::Math::XeulerZYX (const Vector3d &ypr) |
| Get transform defined by intrinsic YPR(yaw->pitch->roll) euler angles. More... | |
| SpatialTransform | RobotDynamics::Math::Xrot (double angle_rad, const Vector3d &axis) |
| Get spatial transform from angle and axis. More... | |
| SpatialTransform | RobotDynamics::Math::XrotQuat (double x, double y, double z, double w) |
| SpatialTransform | RobotDynamics::Math::XrotQuat (const Quaternion &orientation) |
| SpatialTransform | RobotDynamics::Math::Xrotx (const double &xrot) |
| Get transform with zero translation and pure rotation about x axis. More... | |
| SpatialTransform | RobotDynamics::Math::Xroty (const double &yrot) |
| Get transform with zero translation and pure rotation about y axis. More... | |
| SpatialTransform | RobotDynamics::Math::Xrotz (const double &zrot) |
| Get transform with zero translation and pure rotation about z axis. More... | |
| SpatialTransform | RobotDynamics::Math::Xtrans (const Vector3d &r) |
| Get pure translation transform. More... | |