trac_ik_lib
2.0
C++ API
Class Hierarchy
File Hierarchy
Full C++ API
Namespaces
Namespace KDL
Namespace math3d
Namespace NLOPT_IK
Namespace std
Namespace TRAC_IK
Classes and Structs
Struct dual_quaternion
Struct color_rgb24
Template Struct matrix3x3
Template Struct quaternion
Struct triangle
Template Struct vec3d
Class ChainIkSolverPos_TL
Class invalid_vector
Template Class matrix
Class oriented_point3d
Class NLOPT_IK
Class TRAC_IK
Enums
Enum BasicJointType
Enum OptType
Enum SolveType
Functions
Function dot
Function exp
Function KDL::diffRelative
Function log
Template Function math3d::almost_zero
Template Function math3d::conjugate
Template Function math3d::cross_product
Template Function math3d::dist
Template Function math3d::dot
Template Function math3d::dot_product(const vec3d<T>&, const vec3d<T>&)
Template Function math3d::dot_product(const vec3d<T>&, const vec3d<S>&)
Template Function math3d::dot_product(const quaternion<T>&, const quaternion<T>&)
Template Function math3d::get_normalize
Template Function math3d::get_rotate(const vec3d<T>&, const quaternion<T>&)
Template Function math3d::get_rotate(const vec3d<T>&, const matrix3x3<T>&)
Template Function math3d::get_rotate_translate(const vec3d<T>&, const matrix3x3<T>&, const point3d&)
Template Function math3d::get_rotate_translate(const vec3d<T>&, const matrix<T>&, const point3d&)
Template Function math3d::get_rotate_translate(const vec3d<T>&, const T *, const T *)
Template Function math3d::get_rotate_translate(const vec3d<T>&, const quaternion<T>&, const point3d&)
Template Function math3d::get_transpose
Template Function math3d::identity3x3
Template Function math3d::invert
Template Function math3d::magnitude
Template Function math3d::median
Template Function math3d::mult_matrix(const matrix3x3<T>&, const matrix3x3<T>&, matrix3x3<T>&)
Template Function math3d::mult_matrix(const Rot1&, const Rot2&, Rot3&)
Template Function math3d::mult_matrix_inplace
Template Function math3d::mult_quaternion
Template Function math3d::norm
Template Function math3d::norm2
Template Function math3d::normalize(quaternion<T>&)
Template Function math3d::normalize(vec3d<T>&)
Template Function math3d::operator*
Template Function math3d::operator+
Template Function math3d::operator~
Template Function math3d::quaternion_to_rot_matrix
Template Function math3d::relative_motion
Template Function math3d::rot_matrix_to_quaternion
Template Function math3d::rotate(vec3d<T>&, const matrix<T>&)
Template Function math3d::rotate(vec3d<T>&, const matrix3x3<T>&)
Template Function math3d::rotate(vec3d<T>&, const matrix<S>&)
Template Function math3d::rotate(vec3d<T>&, const matrix3x3<S>&)
Template Function math3d::rotate(vec3d<T>&, const quaternion<T>&)
Template Function math3d::rotate_translate
Template Function math3d::set_identity(quaternion<T>&)
Template Function math3d::set_identity(matrix<T>&, T)
Template Function math3d::set_identity(matrix3x3<T>&, T)
Template Function math3d::squared_dist
Template Function math3d::transpose(matrix<T>&)
Template Function math3d::transpose(matrix3x3<T>&)
Template Function math3d::transpose(const matrix<T>&, matrix<T>&)
Template Function math3d::transpose(const matrix3x3<T>&, matrix3x3<T>&)
Function operator!
Function operator*
Function operator<<
Function operator~
Function set_dual_quaternion_matrix
Function set_quaternion_matrix
Template Function sign
Variables
Variable math3d::deg_on_rad
Variable math3d::pi
Variable math3d::rad_on_deg
Defines
Define M_PI
Typedefs
Typedef math3d::normal3d
Typedef math3d::point3d
Typedef math3d::rigid_motion_t
Typedef uint32_t
Typedef uint8_t
Directories
Directory include
Directory trac_ik
Files
File dual_quaternion.h
File kdl_tl.hpp
File math3d.h
File nlopt_ik.hpp
File trac_ik.hpp
Standard Documents
CHANGELOG
Changelog for package trac_ik_lib
2.0.1 (2024-04-12)
2.0.0 (2024-03-29)
1.6.6 (2021-05-05)
1.6.4 (2021-04-29)
1.6.2 (2021-03-17)
PACKAGE
README
Index
trac_ik_lib
C++ API
Template Function math3d::invert
View page source
Template Function math3d::invert
Defined in
File math3d.h
Function Documentation
template
<
typename
R
,
typename
T
>
inline
void
math3d
::
invert
(
R
&
r
,
T
&
t
)
Inverts a rigid motion.