Robotics Library  0.6.0
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Functions
rl::math::transform Namespace Reference

Functions

template<typename Matrix1 , typename Matrix2 , typename Real >
Real distance (const Matrix1 &t1, const Matrix2 &t2, const Real &weight=1.0)
template<typename Matrix1 , typename Real , typename Matrix2 >
void fromDelta (const Matrix1 &t1, const Real &x, const Real &y, const Real &z, const Real &a, const Real &b, const Real &c, Matrix2 &t2)
template<typename Matrix1 , typename Vector , typename Matrix2 >
void fromDelta (const Matrix1 &t1, const Vector &xyzabc, Matrix2 &t2)
template<typename Matrix , typename Real >
void getDelta (const Matrix &t, Real &x, Real &y, Real &z, Real &a, Real &b, Real &c)
template<typename Matrix , typename Vector >
void getDelta (const Matrix &t, Vector &xyzabc)
template<typename Matrix , typename Real >
void getDenavitHartenberg (const Matrix &t, Real &d, Real &theta, Real &a, Real &alpha)
template<typename Real , typename Matrix >
void setDelta (const Real &x, const Real &y, const Real &z, const Real &a, const Real &b, const Real &c, Matrix &t)
template<typename Vector , typename Matrix >
void setDelta (const Vector &xyzabc, Matrix &t)
template<typename Real , typename Matrix >
void setDenavitHartenberg (const Real &d, const Real &theta, const Real &a, const Real &alpha, Matrix &t)
template<typename Matrix1 , typename Matrix2 , typename Real >
void toDelta (const Matrix1 &t1, const Matrix2 &t2, Real &x, Real &y, Real &z, Real &a, Real &b, Real &c)
template<typename Matrix1 , typename Matrix2 , typename Vector >
void toDelta (const Matrix1 &t1, const Matrix2 &t2, Vector &xyzabc)

Function Documentation

template<typename Matrix1 , typename Matrix2 , typename Real >
Real rl::math::transform::distance ( const Matrix1 &  t1,
const Matrix2 &  t2,
const Real &  weight = 1.0 
)
inline
template<typename Matrix1 , typename Real , typename Matrix2 >
void rl::math::transform::fromDelta ( const Matrix1 &  t1,
const Real &  x,
const Real &  y,
const Real &  z,
const Real &  a,
const Real &  b,
const Real &  c,
Matrix2 &  t2 
)
inline
template<typename Matrix1 , typename Vector , typename Matrix2 >
void rl::math::transform::fromDelta ( const Matrix1 &  t1,
const Vector &  xyzabc,
Matrix2 &  t2 
)
inline
template<typename Matrix , typename Real >
void rl::math::transform::getDelta ( const Matrix &  t,
Real &  x,
Real &  y,
Real &  z,
Real &  a,
Real &  b,
Real &  c 
)
inline
template<typename Matrix , typename Vector >
void rl::math::transform::getDelta ( const Matrix &  t,
Vector &  xyzabc 
)
inline
template<typename Matrix , typename Real >
void rl::math::transform::getDenavitHartenberg ( const Matrix &  t,
Real &  d,
Real &  theta,
Real &  a,
Real &  alpha 
)
inline
template<typename Real , typename Matrix >
void rl::math::transform::setDelta ( const Real &  x,
const Real &  y,
const Real &  z,
const Real &  a,
const Real &  b,
const Real &  c,
Matrix &  t 
)
inline
template<typename Vector , typename Matrix >
void rl::math::transform::setDelta ( const Vector &  xyzabc,
Matrix &  t 
)
inline
template<typename Real , typename Matrix >
void rl::math::transform::setDenavitHartenberg ( const Real &  d,
const Real &  theta,
const Real &  a,
const Real &  alpha,
Matrix &  t 
)
inline
template<typename Matrix1 , typename Matrix2 , typename Real >
void rl::math::transform::toDelta ( const Matrix1 &  t1,
const Matrix2 &  t2,
Real &  x,
Real &  y,
Real &  z,
Real &  a,
Real &  b,
Real &  c 
)
inline
template<typename Matrix1 , typename Matrix2 , typename Vector >
void rl::math::transform::toDelta ( const Matrix1 &  t1,
const Matrix2 &  t2,
Vector &  xyzabc 
)
inline