robotis_manipulator::math Namespace Reference

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)

Function Documentation

convertOmegaDotToRPYAcceleration()

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.

convertOmegaToRPYVelocity()

Eigen::Vector3d robotis_manipulator::math::convertOmegaToRPYVelocity	(	Eigen::Vector3d	rpy_vector,
		Eigen::Vector3d	omega
	)

Definition at line 233 of file robotis_manipulator_math.cpp.

convertPitchAngleToRotationMatrix()

Eigen::Matrix3d robotis_manipulator::math::convertPitchAngleToRotationMatrix

(

double

angle

)

Definition at line 76 of file robotis_manipulator_math.cpp.

convertQuaternionToRotationMatrix()

Eigen::Matrix3d robotis_manipulator::math::convertQuaternionToRotationMatrix

(

const Eigen::Quaterniond &

quaternion

)

Definition at line 138 of file robotis_manipulator_math.cpp.

convertQuaternionToRPYVector()

Eigen::Vector3d robotis_manipulator::math::convertQuaternionToRPYVector

(

const Eigen::Quaterniond &

quaternion

)

Definition at line 131 of file robotis_manipulator_math.cpp.

convertRollAngleToRotationMatrix()

Eigen::Matrix3d robotis_manipulator::math::convertRollAngleToRotationMatrix

(

double

angle

)

Definition at line 65 of file robotis_manipulator_math.cpp.

convertRotationMatrixToOmega()

Eigen::Vector3d robotis_manipulator::math::convertRotationMatrixToOmega

(

const Eigen::Matrix3d &

rotation_matrix

)

Definition at line 145 of file robotis_manipulator_math.cpp.

convertRotationMatrixToQuaternion()

Eigen::Quaterniond robotis_manipulator::math::convertRotationMatrixToQuaternion

(

const Eigen::Matrix3d &

rotation_matrix

)

Definition at line 123 of file robotis_manipulator_math.cpp.

convertRotationMatrixToRPYVector()

Eigen::Vector3d robotis_manipulator::math::convertRotationMatrixToRPYVector

(

const Eigen::Matrix3d &

rotation_matrix

)

Definition at line 98 of file robotis_manipulator_math.cpp.

convertRPYAccelerationToOmegaDot()

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.

convertRPYToQuaternion()

Eigen::Quaterniond robotis_manipulator::math::convertRPYToQuaternion	(	double	roll,
		double	pitch,
		double	yaw
	)

Definition at line 115 of file robotis_manipulator_math.cpp.

convertRPYToRotationMatrix()

Eigen::Matrix3d robotis_manipulator::math::convertRPYToRotationMatrix	(	double	roll,
		double	pitch,
		double	yaw
	)

Definition at line 108 of file robotis_manipulator_math.cpp.

convertRPYToTransformationMatrix()

Eigen::Matrix4d robotis_manipulator::math::convertRPYToTransformationMatrix	(	double	roll,
		double	pitch,
		double	yaw
	)

Definition at line 174 of file robotis_manipulator_math.cpp.

convertRPYVelocityToOmega()

Eigen::Vector3d robotis_manipulator::math::convertRPYVelocityToOmega	(	Eigen::Vector3d	rpy_vector,
		Eigen::Vector3d	rpy_velocity
	)

Definition at line 246 of file robotis_manipulator_math.cpp.

convertXYZRPYToTransformationMatrix()

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.

convertXYZToTransformationMatrix()

Eigen::Matrix4d robotis_manipulator::math::convertXYZToTransformationMatrix	(	double	x,
		double	y,
		double	z
	)

Definition at line 161 of file robotis_manipulator_math.cpp.

convertXYZToVector()

Eigen::Vector3d robotis_manipulator::math::convertXYZToVector	(	double	x,
		double	y,
		double	z
	)

Definition at line 56 of file robotis_manipulator_math.cpp.

convertYawAngleToRotationMatrix()

Eigen::Matrix3d robotis_manipulator::math::convertYawAngleToRotationMatrix

(

double

angle

)

Definition at line 87 of file robotis_manipulator_math.cpp.

dynamicPoseDifference()

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.

inertiaMatrix()

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.

inverseTransformationMatrix()

Eigen::Matrix4d robotis_manipulator::math::inverseTransformationMatrix

(

const Eigen::MatrixXd &

transformation_matrix

)

Definition at line 207 of file robotis_manipulator_math.cpp.

matrix3()

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.

matrixLogarithm()

Eigen::Vector3d robotis_manipulator::math::matrixLogarithm

(

Eigen::Matrix3d

rotation_matrix

)

Definition at line 311 of file robotis_manipulator_math.cpp.

orientationDifference()

Eigen::Vector3d robotis_manipulator::math::orientationDifference	(	Eigen::Matrix3d	desired_orientation,
		Eigen::Matrix3d	present_orientation
	)

Definition at line 375 of file robotis_manipulator_math.cpp.

poseDifference()

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.

positionDifference()

Eigen::Vector3d robotis_manipulator::math::positionDifference	(	Eigen::Vector3d	desired_position,
		Eigen::Vector3d	present_position
	)

Definition at line 367 of file robotis_manipulator_math.cpp.

rodriguesRotationMatrix()

Eigen::Matrix3d robotis_manipulator::math::rodriguesRotationMatrix	(	Eigen::Vector3d	axis,
		double	angle
	)

Definition at line 354 of file robotis_manipulator_math.cpp.

sign()

double robotis_manipulator::math::sign

(

double

value

)

Definition at line 299 of file robotis_manipulator_math.cpp.

skewSymmetricMatrix()

Eigen::Matrix3d robotis_manipulator::math::skewSymmetricMatrix

(

Eigen::Vector3d

v

)

Definition at line 345 of file robotis_manipulator_math.cpp.

vector3()

Eigen::Vector3d robotis_manipulator::math::vector3	(	double	v1,
		double	v2,
		double	v3
	)

Definition at line 24 of file robotis_manipulator_math.cpp.