Robotics Library
0.6.0
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Namespaces | |
namespace | quaternion |
namespace | spatial |
namespace | transform |
Classes | |
class | Cubic |
class | Kalman |
class | Pid |
class | Quintic |
class | TrapezoidalVelocity |
Typedefs | |
typedef ::Eigen::Matrix< Real,::Eigen::Dynamic,::Eigen::Dynamic > | Matrix |
typedef ::Eigen::Matrix< Real, 2, 2 > | Matrix22 |
typedef ::Eigen::Matrix< Real, 3, 3 > | Matrix33 |
typedef ::Eigen::Matrix< Real, 4, 4 > | Matrix44 |
typedef ::Eigen::Matrix< Real, 6, 6 > | Matrix66 |
typedef ::Eigen::Block< Matrix > | MatrixBlock |
typedef ::Eigen::Block< Matrix22 > | Matrix22Block |
typedef ::Eigen::Block< Matrix33 > | Matrix33Block |
typedef ::Eigen::Block< Matrix44 > | Matrix44Block |
typedef ::Eigen::Block< Matrix66 > | Matrix66Block |
typedef Matrix::ColXpr | MatrixColumn |
typedef Matrix22::ColXpr | Matrix22Column |
typedef Matrix33::ColXpr | Matrix33Column |
typedef Matrix44::ColXpr | Matrix44Column |
typedef Matrix66::ColXpr | Matrix66Column |
typedef Matrix::RowXpr | MatrixRow |
typedef Matrix22::RowXpr | Matrix22Row |
typedef Matrix33::RowXpr | Matrix33Row |
typedef Matrix44::RowXpr | Matrix44Row |
typedef Matrix66::RowXpr | Matrix66Row |
typedef const ::Eigen::Block < const Matrix > | ConstMatrixBlock |
typedef const ::Eigen::Block < const Matrix22 > | ConstMatrix22Block |
typedef const ::Eigen::Block < const Matrix33 > | ConstMatrix33Block |
typedef const ::Eigen::Block < const Matrix44 > | ConstMatrix44Block |
typedef const ::Eigen::Block < const Matrix66 > | ConstMatrix66Block |
typedef Matrix::ConstColXpr | ConstMatrixColumn |
typedef Matrix22::ConstColXpr | ConstMatrix22Column |
typedef Matrix33::ConstColXpr | ConstMatrix33Column |
typedef Matrix44::ConstColXpr | ConstMatrix44Column |
typedef Matrix66::ConstColXpr | ConstMatrix66Column |
typedef Matrix::ConstRowXpr | ConstMatrixRow |
typedef Matrix22::ConstRowXpr | ConstMatrix22Row |
typedef Matrix33::ConstRowXpr | ConstMatrix33Row |
typedef Matrix44::ConstRowXpr | ConstMatrix44Row |
typedef Matrix66::ConstRowXpr | ConstMatrix66Row |
typedef ::Eigen::Quaternion< Real > | Quaternion |
typedef double | Real |
typedef Matrix33 | Rotation |
typedef Matrix33Block | RotationBlock |
typedef Matrix33Column | RotationColumn |
typedef Matrix33Row | RotationRow |
typedef ConstMatrix33Block | ConstRotationBlock |
typedef ConstMatrix33Column | ConstRotationColumn |
typedef ConstMatrix33Row | ConstRotationRow |
typedef ::Eigen::AngleAxis< Real > | AngleAxis |
typedef spatial::ArticulatedBodyInertia < Real > | ArticulatedBodyInertia |
typedef spatial::ForceVector < Real > | ForceVector |
typedef spatial::MotionVector < Real > | MotionVector |
typedef spatial::PlueckerTransform < Real > | PlueckerTransform |
typedef spatial::RigidBodyInertia < Real > | RigidBodyInertia |
typedef ::Eigen::Transform < Real, 3,::Eigen::Affine > | Transform |
typedef ::Eigen::Translation < Real, 3 > | Translation |
typedef ::Eigen::Matrix< Real,::Eigen::Dynamic, 1 > | Vector |
typedef ::Eigen::Matrix< Real, 2, 1 > | Vector2 |
typedef ::Eigen::Matrix< Real, 3, 1 > | Vector3 |
typedef ::Eigen::Matrix< Real, 4, 1 > | Vector4 |
typedef ::Eigen::Matrix< Real, 6, 1 > | Vector6 |
typedef ::Eigen::VectorBlock < Vector,::Eigen::Dynamic > | VectorBlock |
typedef ::Eigen::VectorBlock < Vector2,::Eigen::Dynamic > | Vector2Block |
typedef ::Eigen::VectorBlock < Vector3,::Eigen::Dynamic > | Vector3Block |
typedef ::Eigen::VectorBlock < Vector4,::Eigen::Dynamic > | Vector4Block |
typedef ::Eigen::VectorBlock < Vector6,::Eigen::Dynamic > | Vector6Block |
typedef ::Eigen::VectorBlock < const Vector,::Eigen::Dynamic > | ConstVectorBlock |
typedef ::Eigen::VectorBlock < const Vector2,::Eigen::Dynamic > | ConstVector2Block |
typedef ::Eigen::VectorBlock < const Vector3,::Eigen::Dynamic > | ConstVector3Block |
typedef ::Eigen::VectorBlock < const Vector4,::Eigen::Dynamic > | ConstVector4Block |
typedef ::Eigen::VectorBlock < const Vector6,::Eigen::Dynamic > | ConstVector6Block |
Functions | |
template<typename T > | |
T | sign (const T &a) |
void | cartesianToPolar (const Real &x, const Real &y, Real &r, Real &theta) |
void | cartesianToSpherical (const Real &x, const Real &y, const Real &z, Real &rho, Real &psi, Real &theta) |
void | polarToCartesian (const Real &r, const Real &theta, Real &x, Real &y) |
void | sphericalToCartesian (const Real &rho, const Real &psi, const Real &theta, Real &x, Real &y, Real &z) |
Variables | |
static const Real | DEG2RAD = 0.017453292519943295769236907684886f |
static const Real | GRAVITY = 9.80665f |
static const Real | RAD2DEG = 57.295779513082320876798154814105f |
typedef ::Eigen::AngleAxis< Real > rl::math::AngleAxis |
typedef const ::Eigen::Block< const Matrix22 > rl::math::ConstMatrix22Block |
typedef Matrix22::ConstColXpr rl::math::ConstMatrix22Column |
typedef Matrix22::ConstRowXpr rl::math::ConstMatrix22Row |
typedef const ::Eigen::Block< const Matrix33 > rl::math::ConstMatrix33Block |
typedef Matrix33::ConstColXpr rl::math::ConstMatrix33Column |
typedef Matrix33::ConstRowXpr rl::math::ConstMatrix33Row |
typedef const ::Eigen::Block< const Matrix44 > rl::math::ConstMatrix44Block |
typedef Matrix44::ConstColXpr rl::math::ConstMatrix44Column |
typedef Matrix44::ConstRowXpr rl::math::ConstMatrix44Row |
typedef const ::Eigen::Block< const Matrix66 > rl::math::ConstMatrix66Block |
typedef Matrix66::ConstColXpr rl::math::ConstMatrix66Column |
typedef Matrix66::ConstRowXpr rl::math::ConstMatrix66Row |
typedef const ::Eigen::Block< const Matrix > rl::math::ConstMatrixBlock |
typedef Matrix::ConstColXpr rl::math::ConstMatrixColumn |
typedef Matrix::ConstRowXpr rl::math::ConstMatrixRow |
typedef ::Eigen::VectorBlock< const Vector2, ::Eigen::Dynamic > rl::math::ConstVector2Block |
typedef ::Eigen::VectorBlock< const Vector3, ::Eigen::Dynamic > rl::math::ConstVector3Block |
typedef ::Eigen::VectorBlock< const Vector4, ::Eigen::Dynamic > rl::math::ConstVector4Block |
typedef ::Eigen::VectorBlock< const Vector6, ::Eigen::Dynamic > rl::math::ConstVector6Block |
typedef ::Eigen::VectorBlock< const Vector, ::Eigen::Dynamic > rl::math::ConstVectorBlock |
typedef spatial::ForceVector< Real > rl::math::ForceVector |
typedef ::Eigen::Matrix< Real, ::Eigen::Dynamic, ::Eigen::Dynamic > rl::math::Matrix |
typedef ::Eigen::Matrix< Real, 2, 2 > rl::math::Matrix22 |
typedef ::Eigen::Block< Matrix22 > rl::math::Matrix22Block |
typedef Matrix22::ColXpr rl::math::Matrix22Column |
typedef Matrix22::RowXpr rl::math::Matrix22Row |
typedef ::Eigen::Matrix< Real, 3, 3 > rl::math::Matrix33 |
typedef ::Eigen::Block< Matrix33 > rl::math::Matrix33Block |
typedef Matrix33::ColXpr rl::math::Matrix33Column |
typedef Matrix33::RowXpr rl::math::Matrix33Row |
typedef ::Eigen::Matrix< Real, 4, 4 > rl::math::Matrix44 |
typedef ::Eigen::Block< Matrix44 > rl::math::Matrix44Block |
typedef Matrix44::ColXpr rl::math::Matrix44Column |
typedef Matrix44::RowXpr rl::math::Matrix44Row |
typedef ::Eigen::Matrix< Real, 6, 6 > rl::math::Matrix66 |
typedef ::Eigen::Block< Matrix66 > rl::math::Matrix66Block |
typedef Matrix66::ColXpr rl::math::Matrix66Column |
typedef Matrix66::RowXpr rl::math::Matrix66Row |
typedef ::Eigen::Block< Matrix > rl::math::MatrixBlock |
typedef Matrix::ColXpr rl::math::MatrixColumn |
typedef Matrix::RowXpr rl::math::MatrixRow |
typedef spatial::MotionVector< Real > rl::math::MotionVector |
typedef ::Eigen::Quaternion< Real > rl::math::Quaternion |
typedef double rl::math::Real |
typedef Matrix33 rl::math::Rotation |
typedef Matrix33Block rl::math::RotationBlock |
typedef Matrix33Row rl::math::RotationRow |
typedef ::Eigen::Transform< Real, 3, ::Eigen::Affine > rl::math::Transform |
typedef ::Eigen::Translation< Real, 3 > rl::math::Translation |
typedef ::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > rl::math::Vector |
typedef ::Eigen::Matrix< Real, 2, 1 > rl::math::Vector2 |
typedef ::Eigen::VectorBlock< Vector2, ::Eigen::Dynamic > rl::math::Vector2Block |
typedef ::Eigen::Matrix< Real, 3, 1 > rl::math::Vector3 |
typedef ::Eigen::VectorBlock< Vector3, ::Eigen::Dynamic > rl::math::Vector3Block |
typedef ::Eigen::Matrix< Real, 4, 1 > rl::math::Vector4 |
typedef ::Eigen::VectorBlock< Vector4, ::Eigen::Dynamic > rl::math::Vector4Block |
typedef ::Eigen::Matrix< Real, 6, 1 > rl::math::Vector6 |
typedef ::Eigen::VectorBlock< Vector6, ::Eigen::Dynamic > rl::math::Vector6Block |
typedef ::Eigen::VectorBlock< Vector, ::Eigen::Dynamic > rl::math::VectorBlock |
enum rl::math::Unit |
Name | Symbol | Measure |
meter | m | length |
kilogram | kg | mass |
second | s | time |
ampere | A | electric current |
kelvin | K | thermodynamic temperature |
mole | mol | quantity of matter (mass/mass) |
candela | cd | luminous intensity |
Name | Symbol | Quantity | Expression in terms of SI base units |
radian | rad | Angle | |
hertz | Hz | frequency | s-1 |
newton | N | Force, Weight | m kg s-2 |
volt | V | Electrical potential difference, Electromotive force | m2 kg s-3 A-1 |
degree Celsius | C | Thermodynamic temperature | TC = TK - 273.16 |
meter per second | m s-1 | speed, velocity | m s-1 |
meter per second squared | m s-2 | acceleration | m s-2 |
radian per second | rad s-1 | angular velocity | s-1 |
newton second | N s | momentum, impulse | kg m s-1 |
newton meter second | N m s | angular momentum | kg m2 s-1 |
newton meter | N m | Torque, moment of force | kg m2 s-2 |
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[m s-2]
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