fmatSpatial.h File Reference
Provides data structures and algorithms for spatial operations. More...
#include "fmatCore.h"
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Classes | |
| class | fmat::QuaternionT< R > |
| Quaternions can be more efficient and more stable for a series of rotations than a corresponding 3x3 matrix, also more compact storage. More... | |
| struct | fmat::fmat_internal::transformOps< R1, R2 > |
| Expanded calculations to facilitate optimized compilation of these operations for TransformT. More... | |
| class | fmat::TransformT< R > |
| Efficient computation of affine transform operations. More... | |
Namespaces | |
| namespace | fmat |
fixed-size matrix routines for high performance with small allocations | |
| namespace | fmat::fmat_internal |
Typedefs | |
| typedef QuaternionT | fmat::Quaternion |
| typedef TransformT | fmat::Transform |
Functions | |
| template<typename R > | |
| Matrix< 2, 2, R > | fmat::rotation2DT (R rad) |
| returns 2x2 rotation matrix (i.e. implied rotation about Z), for angle rad in radians | |
| Matrix< 2, 2, fmatReal > | fmat::rotation2D (fmatReal rad) |
| returns 2x2 rotation matrix for angle rad (in radians) about Z axis | |
| template<size_t N, typename R > | |
| Matrix< N, N, R > | fmat::rotationXN (R rad) |
| returns NxN rotation matrix for angle rad (in radians) about X axis (only uses upper 3x3) | |
| Matrix< 3, 3, fmatReal > | fmat::rotationX (fmatReal rad) |
| returns 3x3 rotation matrix for angle rad (in radians) about X axis | |
| template<size_t N, typename R > | |
| Matrix< N, N, R > | fmat::rotationYN (R rad) |
| returns NxN rotation matrix for angle rad (in radians) about Y axis (only uses upper 3x3) | |
| Matrix< 3, 3, fmatReal > | fmat::rotationY (fmatReal rad) |
| returns 3x3 rotation matrix for angle rad (in radians) about Z axis | |
| template<size_t N, typename R > | |
| Matrix< N, N, R > | fmat::rotationZN (R rad) |
| returns NxN rotation matrix for angle rad (in radians) about Z axis (only uses upper 2x2) | |
| Matrix< 3, 3, fmatReal > | fmat::rotationZ (fmatReal rad) |
| returns 3x3 rotation matrix for angle rad (in radians) about Z axis | |
| template<class Ra , class Rb > | |
| QuaternionT< typename fmat_internal::promotion_trait < Ra, Rb >::type > | fmat::crossProduct (const QuaternionT< Ra > &p, const QuaternionT< Rb > &q) |
| returns the rotation needed to transform p into q (this is the core of a 'slerp' implementation) | |
| template<typename R > | |
| QuaternionT< R > | fmat::invert (const QuaternionT< R > &q) |
| template<typename R > | |
| Matrix< 4, 4, R > | fmat::invertTransform (const Matrix< 4, 4, R > &t) |
| invert the matrix, taking advantage of known structure: | |
| template<typename R > | |
| TransformT< R > | fmat::invert (const TransformT< R > &m) |
| template<typename R > | |
| Column< 3, R > | fmat::ypr (const QuaternionT< R > &q) |
| Returns yaw-pitch-roll aka heading-elevation-bank conversion, where roll-pitch-yaw correspond to compounding rotations about the global x, y, and z axis respectively (in that order). | |
| template<typename R > | |
| Column< 3, R > | fmat::ypr (const TransformT< R > &m) |
| Returns yaw-pitch-roll aka heading-elevation-bank conversion, where roll-pitch-yaw correspond to compounding rotations about the global x, y, and z axis respectively (in that order). | |
| template<template< size_t, size_t, typename R > class M, typename R > | |
| Column< 3, typename fmat_internal::unconst< R > ::type > | fmat::ypr (const M< 3, 3, R > &m) |
| Returns yaw-pitch-roll aka heading-elevation-bank conversion, where roll-pitch-yaw correspond to compounding rotations about the global x, y, and z axis respectively (in that order). | |
| template<typename R > | |
| Column< 2, R > | fmat::segmentIntersection (const Column< 2, R > &p1, const Column< 2, R > &d1, const Column< 2, R > &p2, const Column< 2, R > &d2) |
| Returns the scaling factors for d1 and d2 through p1 and p2 respectively to reach common intersection. | |
| template<typename R > | |
| R | fmat::rayIntersection (const Column< 2, R > &p1, const Column< 2, R > &d1, const Column< 2, R > &p2, const Column< 2, R > &d2) |
| Returns the scaling factor of d1 from p1 to reach intersection of d2 through p2. | |
| template<typename R > | |
| Column< 2, R > | fmat::lineIntersection (const Column< 2, R > &p1, const Column< 2, R > &d1, const Column< 2, R > &p2, const Column< 2, R > &d2) |
| Returns the point of intersection of d1 through p1 and d2 through p2. | |
| template<template< size_t, typename R > class V, typename R > | |
| Column< 2, typename V< 2, R > ::out_t > | fmat::normalLeft (const V< 2, R > &v) |
| Returns the orthogonal left vector (rotate by 90°). | |
| template<template< size_t, typename R > class V, typename R > | |
| Column< 2, typename V< 2, R > ::out_t > | fmat::normalRight (const V< 2, R > &v) |
| Returns the orthogonal right vector (rotate by -90°). | |
Detailed Description
Provides data structures and algorithms for spatial operations.
Definition in file fmatSpatial.h.
