Mathematical functions. More...

#include <vecmath.h>

Static Public Member Functions
static void	calcAngles (double leg1, double leg2, double x, double y, double &first, double &second)
	Calculates inverse kinematics of a standard two link leg.
static double	calcDotProduct (double firstVector[], double secondVector[], int size)
	Calculates dot product of two double vectors of the stated size.
static void	calcMatrixResult (double matrix[], double vector[], int rows, int columns, double resultVector[])
	Calculates vector-matrix product.
static void	getEulerZXZ (CMatrix &mat, CVec &first)
	Transforms homogenous matrix into Euler angle (YZX) representation (two solutions)
static void	getMatrixFromRotation (CMatrix &mat, const CVec &axis, double angle)
	Transforms axis-angle representation into homogenous matrix representation.
static void	getOrientation (CMatrix &mat, CVec &first, CVec &second, bool old=false)
	Transforms homogenous matrix into Euler angle (YZX) representation (two solutions)
static void	getQuaternionFromRotation (CVec &quater, CVec &axis, double angle)
static void	getRotation (CMatrix &mat, CVec &vec, bool old=false)
	ransforms Euler angle (YZX) representation into homogenous matrix representation
static void	getRotation (CMatrix &mat, double x, double y, double z, bool old=false)
	Transforms Euler angle (YZX) representation into homogenous matrix representation.
static void	getRotationFromMatrix (const CMatrix &mat, CVec &axis, double &angle)
	Transforms homogenous matrix into axis-angle representation.
static void	matrixFromQuaternion (CVec &quaternion, CMatrix &matrix)
	Transforms a quaternion into homogenous matrix representation.
static void	multiplyMatrices (double firstMatrix, double secondMatrix, int firstRows, int firstColumns, int secondColumns, double *resultMatrix)
	Multiplies two matrices.
static void	quaternionFromMatrix (const CMatrix &mat, CVec &quaternion)
	Transforms a homogenous matrix into quaternion representation.
static void	transposeMatrix (double matrix, double resultMatrix, int size)
	Transposes a matrix.

Detailed Description

Mathematical functions.

Definition at line 275 of file vecmath.h.

Member Function Documentation

void robotLibPbD::CMathLib::calcAngles	(	double	leg1,
		double	leg2,
		double	x,
		double	y,
		double &	first,
		double &	second
	)		`[static]`

Calculates inverse kinematics of a standard two link leg.

Parameters:

leg1	Length of leg connected to base
leg2	Length of leg connected to hand
x	Cartesian x position of hand
y	Cartesian y position of hand
first	Angle between base and leg1
second	Angle between leg1 and leg2 (elbow)

Definition at line 756 of file vecmath.cpp.

double robotLibPbD::CMathLib::calcDotProduct	(	double	firstVector[],
		double	secondVector[],
		int	size
	)		`[static]`

Calculates dot product of two double vectors of the stated size.

Definition at line 511 of file vecmath.cpp.

void robotLibPbD::CMathLib::calcMatrixResult	(	double	matrix[],
		double	vector[],
		int	rows,
		int	columns,
		double	resultVector[]
	)		`[static]`

Calculates vector-matrix product.

Parameters:

resultVector Has to be allocated

Definition at line 499 of file vecmath.cpp.

void robotLibPbD::CMathLib::getEulerZXZ	(	CMatrix &	mat,
		CVec &	first
	)		`[static]`

Transforms homogenous matrix into Euler angle (YZX) representation (two solutions)

Definition at line 618 of file vecmath.cpp.

void robotLibPbD::CMathLib::getMatrixFromRotation	(	CMatrix &	mat,
		const CVec &	axis,
		double	angle
	)		`[static]`

Transforms axis-angle representation into homogenous matrix representation.

Definition at line 409 of file vecmath.cpp.

void robotLibPbD::CMathLib::getOrientation	(	CMatrix &	mat,
		CVec &	first,
		CVec &	second,
		bool	old = `false`
	)		`[static]`

Transforms homogenous matrix into Euler angle (YZX) representation (two solutions)

Definition at line 642 of file vecmath.cpp.

void robotLibPbD::CMathLib::getQuaternionFromRotation	(	CVec &	quater,
		CVec &	axis,
		double	angle
	)		`[static]`

Definition at line 436 of file vecmath.cpp.

void robotLibPbD::CMathLib::getRotation	(	CMatrix &	mat,
		CVec &	vec,
		bool	old = `false`
	)		`[static]`

ransforms Euler angle (YZX) representation into homogenous matrix representation

See also:: getRotation

Definition at line 750 of file vecmath.cpp.

void robotLibPbD::CMathLib::getRotation	(	CMatrix &	mat,
		double	x,
		double	y,
		double	z,
		bool	old = `false`
	)		`[static]`

Transforms Euler angle (YZX) representation into homogenous matrix representation.

Definition at line 692 of file vecmath.cpp.

void robotLibPbD::CMathLib::getRotationFromMatrix	(	const CMatrix &	mat,
		CVec &	axis,
		double &	angle
	)		`[static]`

Transforms homogenous matrix into axis-angle representation.

Definition at line 463 of file vecmath.cpp.

void robotLibPbD::CMathLib::matrixFromQuaternion	(	CVec &	quaternion,
		CMatrix &	matrix
	)		`[static]`

Transforms a quaternion into homogenous matrix representation.

Definition at line 372 of file vecmath.cpp.

void robotLibPbD::CMathLib::multiplyMatrices	(	double *	firstMatrix,
		double *	secondMatrix,
		int	firstRows,
		int	firstColumns,
		int	secondColumns,
		double *	resultMatrix
	)		`[static]`

Multiplies two matrices.

Parameters:

resultMatrix Has to be allocated

Definition at line 579 of file vecmath.cpp.

void robotLibPbD::CMathLib::quaternionFromMatrix	(	const CMatrix &	mat,
		CVec &	quaternion
	)		`[static]`

Transforms a homogenous matrix into quaternion representation.

Parameters:

quaternion XYZ is the rotation axis part, W the angle part

Definition at line 525 of file vecmath.cpp.

void robotLibPbD::CMathLib::transposeMatrix	(	double *	matrix,
		double *	resultMatrix,
		int	size
	)		`[static]`

Transposes a matrix.

Set resultMatrix to matrix if you want to transpose the matrix

Parameters:

resultMatrix Has to be allocated

Definition at line 565 of file vecmath.cpp.

The documentation for this class was generated from the following files:

Static Public Member Functions

Detailed Description

Member Function Documentation