homogen.cpp File Reference
Detailed Description
Homogen transformation functions.
Definition in file homogen.cpp.
#include "robot.h"
Include dependency graph for homogen.cpp:
Go to the source code of this file.
Namespaces | |
| namespace | ROBOOP |
Functions | |
| ReturnMatrix | ROBOOP::trans (const ColumnVector &a) |
| Translation. | |
| ReturnMatrix | ROBOOP::rotx (const Real alpha) |
| Rotation around x axis. | |
| ReturnMatrix | ROBOOP::roty (const Real beta) |
| Rotation around x axis. | |
| ReturnMatrix | ROBOOP::rotz (const Real gamma) |
| Rotation around z axis. | |
| ReturnMatrix | ROBOOP::rotk (const Real theta, const ColumnVector &k) |
| Rotation around arbitrary axis. | |
| ReturnMatrix | ROBOOP::rpy (const ColumnVector &a) |
| Roll Pitch Yaw rotation. | |
| ReturnMatrix | ROBOOP::eulzxz (const ColumnVector &a) |
| Euler ZXZ rotation. | |
| ReturnMatrix | ROBOOP::rotd (const Real theta, const ColumnVector &k1, const ColumnVector &k2) |
| Rotation around an arbitrary line. | |
| ReturnMatrix | ROBOOP::irotk (const Matrix &R) |
| Obtain axis from a rotation matrix. | |
| ReturnMatrix | ROBOOP::irpy (const Matrix &R) |
| Obtain Roll, Pitch and Yaw from a rotation matrix. | |
| ReturnMatrix | ROBOOP::ieulzxz (const Matrix &R) |
| Obtain Roll, Pitch and Yaw from a rotation matrix. | |
