Functions | |
| Eigen::Vector3d | convertOmegaDotToRPYAcceleration (Eigen::Vector3d rpy_vector, Eigen::Vector3d rpy_velocity, Eigen::Vector3d omega_dot) |
| Eigen::Vector3d | convertOmegaToRPYVelocity (Eigen::Vector3d rpy_vector, Eigen::Vector3d omega) |
| Eigen::Matrix3d | convertPitchAngleToRotationMatrix (double angle) |
| Eigen::Matrix3d | convertQuaternionToRotationMatrix (const Eigen::Quaterniond &quaternion) |
| Eigen::Vector3d | convertQuaternionToRPYVector (const Eigen::Quaterniond &quaternion) |
| Eigen::Matrix3d | convertRollAngleToRotationMatrix (double angle) |
| Eigen::Vector3d | convertRotationMatrixToOmega (const Eigen::Matrix3d &rotation_matrix) |
| Eigen::Quaterniond | convertRotationMatrixToQuaternion (const Eigen::Matrix3d &rotation_matrix) |
| Eigen::Vector3d | convertRotationMatrixToRPYVector (const Eigen::Matrix3d &rotation_matrix) |
| Eigen::Vector3d | convertRPYAccelerationToOmegaDot (Eigen::Vector3d rpy_vector, Eigen::Vector3d rpy_velocity, Eigen::Vector3d rpy_acceleration) |
| Eigen::Quaterniond | convertRPYToQuaternion (double roll, double pitch, double yaw) |
| Eigen::Matrix3d | convertRPYToRotationMatrix (double roll, double pitch, double yaw) |
| Eigen::Matrix4d | convertRPYToTransformationMatrix (double roll, double pitch, double yaw) |
| Eigen::Vector3d | convertRPYVelocityToOmega (Eigen::Vector3d rpy_vector, Eigen::Vector3d rpy_velocity) |
| Eigen::Matrix4d | convertXYZRPYToTransformationMatrix (double x, double y, double z, double roll, double pitch, double yaw) |
| Eigen::Matrix4d | convertXYZToTransformationMatrix (double x, double y, double z) |
| Eigen::Vector3d | convertXYZToVector (double x, double y, double z) |
| Eigen::Matrix3d | convertYawAngleToRotationMatrix (double angle) |
| Eigen::VectorXd | dynamicPoseDifference (Eigen::Vector3d desired_linear_velocity, Eigen::Vector3d present_linear_velocity, Eigen::Vector3d desired_angular_velocity, Eigen::Vector3d present_angular_velocity) |
| Eigen::Matrix3d | inertiaMatrix (double ixx, double ixy, double ixz, double iyy, double iyz, double izz) |
| Eigen::Matrix4d | inverseTransformationMatrix (const Eigen::MatrixXd &transformation_matrix) |
| Eigen::Matrix3d | matrix3 (double m11, double m12, double m13, double m21, double m22, double m23, double m31, double m32, double m33) |
| Eigen::Vector3d | matrixLogarithm (Eigen::Matrix3d rotation_matrix) |
| Eigen::Vector3d | orientationDifference (Eigen::Matrix3d desired_orientation, Eigen::Matrix3d present_orientation) |
| Eigen::VectorXd | poseDifference (Eigen::Vector3d desired_position, Eigen::Vector3d present_position, Eigen::Matrix3d desired_orientation, Eigen::Matrix3d present_orientation) |
| Eigen::Vector3d | positionDifference (Eigen::Vector3d desired_position, Eigen::Vector3d present_position) |
| Eigen::Matrix3d | rodriguesRotationMatrix (Eigen::Vector3d axis, double angle) |
| double | sign (double value) |
| Eigen::Matrix3d | skewSymmetricMatrix (Eigen::Vector3d v) |
| Eigen::Vector3d | vector3 (double v1, double v2, double v3) |
| Eigen::Vector3d robotis_manipulator::math::convertOmegaDotToRPYAcceleration | ( | Eigen::Vector3d | rpy_vector, |
| Eigen::Vector3d | rpy_velocity, | ||
| Eigen::Vector3d | omega_dot | ||
| ) |
Definition at line 259 of file robotis_manipulator_math.cpp.
| Eigen::Vector3d robotis_manipulator::math::convertOmegaToRPYVelocity | ( | Eigen::Vector3d | rpy_vector, |
| Eigen::Vector3d | omega | ||
| ) |
Definition at line 233 of file robotis_manipulator_math.cpp.
| Eigen::Matrix3d robotis_manipulator::math::convertPitchAngleToRotationMatrix | ( | double | angle | ) |
Definition at line 76 of file robotis_manipulator_math.cpp.
| Eigen::Matrix3d robotis_manipulator::math::convertQuaternionToRotationMatrix | ( | const Eigen::Quaterniond & | quaternion | ) |
Definition at line 138 of file robotis_manipulator_math.cpp.
| Eigen::Vector3d robotis_manipulator::math::convertQuaternionToRPYVector | ( | const Eigen::Quaterniond & | quaternion | ) |
Definition at line 131 of file robotis_manipulator_math.cpp.
| Eigen::Matrix3d robotis_manipulator::math::convertRollAngleToRotationMatrix | ( | double | angle | ) |
Definition at line 65 of file robotis_manipulator_math.cpp.
| Eigen::Vector3d robotis_manipulator::math::convertRotationMatrixToOmega | ( | const Eigen::Matrix3d & | rotation_matrix | ) |
Definition at line 145 of file robotis_manipulator_math.cpp.
| Eigen::Quaterniond robotis_manipulator::math::convertRotationMatrixToQuaternion | ( | const Eigen::Matrix3d & | rotation_matrix | ) |
Definition at line 123 of file robotis_manipulator_math.cpp.
| Eigen::Vector3d robotis_manipulator::math::convertRotationMatrixToRPYVector | ( | const Eigen::Matrix3d & | rotation_matrix | ) |
Definition at line 98 of file robotis_manipulator_math.cpp.
| Eigen::Vector3d robotis_manipulator::math::convertRPYAccelerationToOmegaDot | ( | Eigen::Vector3d | rpy_vector, |
| Eigen::Vector3d | rpy_velocity, | ||
| Eigen::Vector3d | rpy_acceleration | ||
| ) |
Definition at line 277 of file robotis_manipulator_math.cpp.
| Eigen::Quaterniond robotis_manipulator::math::convertRPYToQuaternion | ( | double | roll, |
| double | pitch, | ||
| double | yaw | ||
| ) |
Definition at line 115 of file robotis_manipulator_math.cpp.
| Eigen::Matrix3d robotis_manipulator::math::convertRPYToRotationMatrix | ( | double | roll, |
| double | pitch, | ||
| double | yaw | ||
| ) |
Definition at line 108 of file robotis_manipulator_math.cpp.
| Eigen::Matrix4d robotis_manipulator::math::convertRPYToTransformationMatrix | ( | double | roll, |
| double | pitch, | ||
| double | yaw | ||
| ) |
Definition at line 174 of file robotis_manipulator_math.cpp.
| Eigen::Vector3d robotis_manipulator::math::convertRPYVelocityToOmega | ( | Eigen::Vector3d | rpy_vector, |
| Eigen::Vector3d | rpy_velocity | ||
| ) |
Definition at line 246 of file robotis_manipulator_math.cpp.
| Eigen::Matrix4d robotis_manipulator::math::convertXYZRPYToTransformationMatrix | ( | double | x, |
| double | y, | ||
| double | z, | ||
| double | roll, | ||
| double | pitch, | ||
| double | yaw | ||
| ) |
Definition at line 151 of file robotis_manipulator_math.cpp.
| Eigen::Matrix4d robotis_manipulator::math::convertXYZToTransformationMatrix | ( | double | x, |
| double | y, | ||
| double | z | ||
| ) |
Definition at line 161 of file robotis_manipulator_math.cpp.
| Eigen::Vector3d robotis_manipulator::math::convertXYZToVector | ( | double | x, |
| double | y, | ||
| double | z | ||
| ) |
Definition at line 56 of file robotis_manipulator_math.cpp.
| Eigen::Matrix3d robotis_manipulator::math::convertYawAngleToRotationMatrix | ( | double | angle | ) |
Definition at line 87 of file robotis_manipulator_math.cpp.
| Eigen::VectorXd robotis_manipulator::math::dynamicPoseDifference | ( | Eigen::Vector3d | desired_linear_velocity, |
| Eigen::Vector3d | present_linear_velocity, | ||
| Eigen::Vector3d | desired_angular_velocity, | ||
| Eigen::Vector3d | present_angular_velocity | ||
| ) |
Definition at line 398 of file robotis_manipulator_math.cpp.
| Eigen::Matrix3d robotis_manipulator::math::inertiaMatrix | ( | double | ixx, |
| double | ixy, | ||
| double | ixz, | ||
| double | iyy, | ||
| double | iyz, | ||
| double | izz | ||
| ) |
Definition at line 40 of file robotis_manipulator_math.cpp.
| Eigen::Matrix4d robotis_manipulator::math::inverseTransformationMatrix | ( | const Eigen::MatrixXd & | transformation_matrix | ) |
Definition at line 207 of file robotis_manipulator_math.cpp.
| Eigen::Matrix3d robotis_manipulator::math::matrix3 | ( | double | m11, |
| double | m12, | ||
| double | m13, | ||
| double | m21, | ||
| double | m22, | ||
| double | m23, | ||
| double | m31, | ||
| double | m32, | ||
| double | m33 | ||
| ) |
Definition at line 31 of file robotis_manipulator_math.cpp.
| Eigen::Vector3d robotis_manipulator::math::matrixLogarithm | ( | Eigen::Matrix3d | rotation_matrix | ) |
Definition at line 311 of file robotis_manipulator_math.cpp.
| Eigen::Vector3d robotis_manipulator::math::orientationDifference | ( | Eigen::Matrix3d | desired_orientation, |
| Eigen::Matrix3d | present_orientation | ||
| ) |
Definition at line 375 of file robotis_manipulator_math.cpp.
| Eigen::VectorXd robotis_manipulator::math::poseDifference | ( | Eigen::Vector3d | desired_position, |
| Eigen::Vector3d | present_position, | ||
| Eigen::Matrix3d | desired_orientation, | ||
| Eigen::Matrix3d | present_orientation | ||
| ) |
Definition at line 383 of file robotis_manipulator_math.cpp.
| Eigen::Vector3d robotis_manipulator::math::positionDifference | ( | Eigen::Vector3d | desired_position, |
| Eigen::Vector3d | present_position | ||
| ) |
Definition at line 367 of file robotis_manipulator_math.cpp.
| Eigen::Matrix3d robotis_manipulator::math::rodriguesRotationMatrix | ( | Eigen::Vector3d | axis, |
| double | angle | ||
| ) |
Definition at line 354 of file robotis_manipulator_math.cpp.
| double robotis_manipulator::math::sign | ( | double | value | ) |
Definition at line 299 of file robotis_manipulator_math.cpp.
| Eigen::Matrix3d robotis_manipulator::math::skewSymmetricMatrix | ( | Eigen::Vector3d | v | ) |
Definition at line 345 of file robotis_manipulator_math.cpp.
| Eigen::Vector3d robotis_manipulator::math::vector3 | ( | double | v1, |
| double | v2, | ||
| double | v3 | ||
| ) |
Definition at line 24 of file robotis_manipulator_math.cpp.