#include <unistd.h>#include <eigen3/Eigen/Eigen>#include <eigen3/Eigen/LU>#include <math.h>
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Namespaces | |
| robotis_manipulator | |
| robotis_manipulator::math | |
Macros | |
| #define | DEG2RAD 0.01745329252 |
| #define | RAD2DEG 57.2957795131 |
Functions | |
| Eigen::Vector3d | robotis_manipulator::math::convertOmegaDotToRPYAcceleration (Eigen::Vector3d rpy_vector, Eigen::Vector3d rpy_velocity, Eigen::Vector3d omega_dot) |
| Eigen::Vector3d | robotis_manipulator::math::convertOmegaToRPYVelocity (Eigen::Vector3d rpy_vector, Eigen::Vector3d omega) |
| Eigen::Matrix3d | robotis_manipulator::math::convertPitchAngleToRotationMatrix (double angle) |
| Eigen::Matrix3d | robotis_manipulator::math::convertQuaternionToRotationMatrix (const Eigen::Quaterniond &quaternion) |
| Eigen::Vector3d | robotis_manipulator::math::convertQuaternionToRPYVector (const Eigen::Quaterniond &quaternion) |
| Eigen::Matrix3d | robotis_manipulator::math::convertRollAngleToRotationMatrix (double angle) |
| Eigen::Vector3d | robotis_manipulator::math::convertRotationMatrixToOmega (const Eigen::Matrix3d &rotation_matrix) |
| Eigen::Quaterniond | robotis_manipulator::math::convertRotationMatrixToQuaternion (const Eigen::Matrix3d &rotation_matrix) |
| Eigen::Vector3d | robotis_manipulator::math::convertRotationMatrixToRPYVector (const Eigen::Matrix3d &rotation_matrix) |
| Eigen::Vector3d | robotis_manipulator::math::convertRPYAccelerationToOmegaDot (Eigen::Vector3d rpy_vector, Eigen::Vector3d rpy_velocity, Eigen::Vector3d rpy_acceleration) |
| Eigen::Quaterniond | robotis_manipulator::math::convertRPYToQuaternion (double roll, double pitch, double yaw) |
| Eigen::Matrix3d | robotis_manipulator::math::convertRPYToRotationMatrix (double roll, double pitch, double yaw) |
| Eigen::Matrix4d | robotis_manipulator::math::convertRPYToTransformationMatrix (double roll, double pitch, double yaw) |
| Eigen::Vector3d | robotis_manipulator::math::convertRPYVelocityToOmega (Eigen::Vector3d rpy_vector, Eigen::Vector3d rpy_velocity) |
| Eigen::Matrix4d | robotis_manipulator::math::convertXYZRPYToTransformationMatrix (double x, double y, double z, double roll, double pitch, double yaw) |
| Eigen::Matrix4d | robotis_manipulator::math::convertXYZToTransformationMatrix (double x, double y, double z) |
| Eigen::Vector3d | robotis_manipulator::math::convertXYZToVector (double x, double y, double z) |
| Eigen::Matrix3d | robotis_manipulator::math::convertYawAngleToRotationMatrix (double angle) |
| 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) |
| Eigen::Matrix3d | robotis_manipulator::math::inertiaMatrix (double ixx, double ixy, double ixz, double iyy, double iyz, double izz) |
| Eigen::Matrix4d | robotis_manipulator::math::inverseTransformationMatrix (const Eigen::MatrixXd &transformation_matrix) |
| Eigen::Matrix3d | robotis_manipulator::math::matrix3 (double m11, double m12, double m13, double m21, double m22, double m23, double m31, double m32, double m33) |
| Eigen::Vector3d | robotis_manipulator::math::matrixLogarithm (Eigen::Matrix3d rotation_matrix) |
| Eigen::Vector3d | robotis_manipulator::math::orientationDifference (Eigen::Matrix3d desired_orientation, Eigen::Matrix3d present_orientation) |
| Eigen::VectorXd | robotis_manipulator::math::poseDifference (Eigen::Vector3d desired_position, Eigen::Vector3d present_position, Eigen::Matrix3d desired_orientation, Eigen::Matrix3d present_orientation) |
| Eigen::Vector3d | robotis_manipulator::math::positionDifference (Eigen::Vector3d desired_position, Eigen::Vector3d present_position) |
| Eigen::Matrix3d | robotis_manipulator::math::rodriguesRotationMatrix (Eigen::Vector3d axis, double angle) |
| double | robotis_manipulator::math::sign (double value) |
| Eigen::Matrix3d | robotis_manipulator::math::skewSymmetricMatrix (Eigen::Vector3d v) |
| Eigen::Vector3d | robotis_manipulator::math::vector3 (double v1, double v2, double v3) |
Macro Definition Documentation
| #define DEG2RAD 0.01745329252 |
Definition at line 35 of file robotis_manipulator_math.h.
| #define RAD2DEG 57.2957795131 |
Definition at line 36 of file robotis_manipulator_math.h.