dynamic_graph.sot.core.matrix_util Namespace Reference

Functions
def	distVector (M2, M1)
def	generateOrthonormalM (v1)
def	matrixToRPY (M)
def	matrixToTuple (M)
def	quaternionToMatrix (q)
def	rotate (axis, ang)
def	rpy2tr (r, p, y)
def	RPYToMatrix (pr)
def	tr2rpy (M)
def	vectorToTuple (M)

Detailed Description

Tiny matrix functions, taken from Oscar source code.

Function Documentation

distVector()

def dynamic_graph.sot.core.matrix_util.distVector	(		M2,
			M1
	)

Definition at line 37 of file matrix_util.py.

generateOrthonormalM()

def dynamic_graph.sot.core.matrix_util.generateOrthonormalM

(

v1

)

Definition at line 49 of file matrix_util.py.

matrixToRPY()

def dynamic_graph.sot.core.matrix_util.matrixToRPY

(

M

)

Convert a 4x4 homogeneous matrix to a 6x1 rpy pose vector.

Definition at line 91 of file matrix_util.py.

matrixToTuple()

def dynamic_graph.sot.core.matrix_util.matrixToTuple

(

M

)

Definition at line 13 of file matrix_util.py.

quaternionToMatrix()

def dynamic_graph.sot.core.matrix_util.quaternionToMatrix

(

q

)

Definition at line 124 of file matrix_util.py.

rotate()

def dynamic_graph.sot.core.matrix_util.rotate	(		axis,
			ang
	)

eg. T=rot('x',pi/4): rotate pi/4 rad about x axis

Definition at line 109 of file matrix_util.py.

rpy2tr()

def dynamic_graph.sot.core.matrix_util.rpy2tr	(		r,
			p,
			y
	)

Definition at line 31 of file matrix_util.py.

RPYToMatrix()

def dynamic_graph.sot.core.matrix_util.RPYToMatrix

(

pr

)

Convert a 6x1 rpy pose vector to a 4x4 homogeneous matrix.

Definition at line 99 of file matrix_util.py.

tr2rpy()

def dynamic_graph.sot.core.matrix_util.tr2rpy

(

M

)

Definition at line 74 of file matrix_util.py.

vectorToTuple()

def dynamic_graph.sot.core.matrix_util.vectorToTuple

(

M

)

Definition at line 21 of file matrix_util.py.