/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/matvec3D.h File Reference

Defines the classes: vec3, position, mat3, Quaternion, and transf. More...

#include <math.h>
#include <string.h>
#include <iostream>
#include <stack>
#include <Inventor/SbLinear.h>
#include <Inventor/nodes/SoTransform.h>

Include dependency graph for matvec3D.h:

Go to the source code of this file.

Classes
class	FlockTransf
	A class for easy storage and manipulation of Flock of Birds transform. More...
class	mat3
	A 3x3 matrix most often used for storing rotations. More...
class	position
	A 3-dimensional position and methods to operate on them. More...
class	Quaternion
	A 4-dimensional unit vector used to store a rotation. More...
class	transf
	A rigid body transformation. More...
class	vec3
	A 3-dimensional double vector and methods to operate on them. More...
Defines
#define	_MATVEC_H_
#define	MACHINE_ZERO   1.0e-9
#define	resabs   1.0e-5
Typedefs
typedef double	col_Mat4 [4][4]
Functions
transf	coordinate_transf (const position &o, const vec3 &xaxis, const vec3 &yaxis)
vec3	normalise (vec3 const &v)
double	operator% (vec3 const &v, position const &p)
double	operator% (position const &p, vec3 const &v)
double	operator% (vec3 const &v1, vec3 const &v2)
position	operator* (const position &p, const transf &tr)
vec3	operator* (const vec3 &v, const transf &tr)
transf	operator* (const transf &tr2, const transf &tr1)
mat3	operator* (double const &s, mat3 const &m)
position	operator* (double d, position const &p)
vec3	operator* (vec3 const &v1, vec3 const &v2)
vec3	operator* (const mat3 &m, const vec3 &v)
vec3	operator* (vec3 const &v, double s)
vec3	operator* (double s, vec3 const &v)
position	operator+ (position const &p1, position const &p2)
position	operator+ (vec3 const &v, position const &p)
position	operator+ (position const &p, vec3 const &v)
vec3	operator+ (vec3 const &v1, vec3 const &v2)
vec3	operator- (position const &p1, position const &p2)
position	operator- (position const &p, vec3 const &v)
vec3	operator- (vec3 const &v)
vec3	operator- (vec3 const &v1, vec3 const &v2)
vec3	operator/ (vec3 const &v, double s)
vec3	operator> (const vec3 &v, const transf &tr)
transf	rotate_transf (double angle, const vec3 &axis)
transf	rotXYZ (double rx, double ry, double rz)
transf	translate_transf (const vec3 &v)

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Detailed Description

Defines the classes: vec3, position, mat3, Quaternion, and transf.

Definition in file matvec3D.h.

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Define Documentation

#define _MATVEC_H_

Definition at line 1409 of file matvec3D.h.

#define MACHINE_ZERO   1.0e-9

Definition at line 44 of file matvec3D.h.

#define resabs   1.0e-5

Definition at line 45 of file matvec3D.h.

---

Typedef Documentation

typedef double col_Mat4[4][4]

Definition at line 47 of file matvec3D.h.

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Function Documentation

transf coordinate_transf	(	const position &	o,
		const vec3 &	xaxis,
		const vec3 &	yaxis
	)

Helper function that creates a tranform from the global frame to the new frame with its origin at position o, and with the given x and y axes.

Definition at line 1386 of file matvec3D.h.

vec3 normalise

(

vec3 const &

v

)

Returns a new unit vector that is the normalized version of vector v.

Definition at line 779 of file matvec3D.h.

double operator%	(	vec3 const &	v,
		position const &	p
	)

Returns the dot product of vector v and position p.

Definition at line 720 of file matvec3D.h.

double operator%	(	position const &	p,
		vec3 const &	v
	)

Returns the dot product of vector v and position p.

Definition at line 713 of file matvec3D.h.

double operator%	(	vec3 const &	v1,
		vec3 const &	v2
	)

Returns the dot product of vectors v1 and v2.

Definition at line 585 of file matvec3D.h.

position operator*	(	const position &	p,
		const transf &	tr
	)

Returns the result of transforming position p with transform tr.

Definition at line 1344 of file matvec3D.h.

vec3 operator*	(	const vec3 &	v,
		const transf &	tr
	)

Returns a vector that is the result of rotating vector v using transform tr.

Definition at line 1328 of file matvec3D.h.

transf operator*	(	const transf &	tr2,
		const transf &	tr1
	)

Multiplies two transforms.

Definition at line 1317 of file matvec3D.h.

mat3 operator*	(	double const &	s,
		mat3 const &	m
	)

Scales matrix m by the scalar s.

Definition at line 1020 of file matvec3D.h.

position operator*	(	double	d,
		position const &	p
	)

Definition at line 914 of file matvec3D.h.

vec3 operator*	(	vec3 const &	v1,
		vec3 const &	v2
	)

Returns the cross product of vectors v1 and v2 ( v1 x v2 ).

Definition at line 739 of file matvec3D.h.

vec3 operator*	(	const mat3 &	m,
		const vec3 &	v
	)

Definition at line 727 of file matvec3D.h.

vec3 operator*	(	vec3 const &	v,
		double	s
	)

Returns a new vector that is the result of scaling this vector by s.

Definition at line 603 of file matvec3D.h.

vec3 operator*	(	double	s,
		vec3 const &	v
	)

Returns a new vector that is the result of scaling this vector by s.

Definition at line 594 of file matvec3D.h.

position operator+	(	position const &	p1,
		position const &	p2
	)

Definition at line 908 of file matvec3D.h.

position operator+	(	vec3 const &	v,
		position const &	p
	)

Returns the result of adding vector v to position p.

Definition at line 895 of file matvec3D.h.

position operator+	(	position const &	p,
		vec3 const &	v
	)

Returns the result of adding vector v to position p.

Definition at line 881 of file matvec3D.h.

vec3 operator+	(	vec3 const &	v1,
		vec3 const &	v2
	)

Returns the sum of vectors v1 and v2.

Definition at line 748 of file matvec3D.h.

vec3 operator-	(	position const &	p1,
		position const &	p2
	)

Returns the result of subtracting position p2 from position p1.

Definition at line 902 of file matvec3D.h.

position operator-	(	position const &	p,
		vec3 const &	v
	)

Returns the result of subtracting vector v from position p.

Definition at line 888 of file matvec3D.h.

vec3 operator-

(

vec3 const &

v

)

Returns a vector that is the negative of vector v. (unary minus)

Definition at line 764 of file matvec3D.h.

vec3 operator-	(	vec3 const &	v1,
		vec3 const &	v2
	)

Returns the difference between vectors v1 and v2.

Definition at line 756 of file matvec3D.h.

vec3 operator/	(	vec3 const &	v,
		double	s
	)

Returns a new vector that is the result of scaling this vector by 1/s.

Definition at line 772 of file matvec3D.h.

vec3 operator>	(	const vec3 &	v,
		const transf &	tr
	)

Definition at line 1334 of file matvec3D.h.

transf rotate_transf	(	double	angle,
		const vec3 &	axis
	)

Helper function that creates a tranform that has a rotation of angle radians about axis, and a zero translation.

Definition at line 1376 of file matvec3D.h.

transf rotXYZ	(	double	rx,
		double	ry,
		double	rz
	)

Definition at line 1395 of file matvec3D.h.

transf translate_transf

(

const vec3 &

v

)

Helper function that creates a transform with an identity rotation and a translation equal to vector v.

Definition at line 1366 of file matvec3D.h.