Include dependency graph for rigid_body_motions.hpp:
This graph shows which files directly or indirectly include this file:
Go to the source code of this file.
Namespaces | |
| mr | |
Functions | |
| const arma::mat33 | mr::RotInv (const arma::mat33 &R) |
| Inverts a rotation matrix. More... | |
| const arma::mat33 | mr::VecToso3 (const arma::vec3 &omg) |
| Converts a 3-vector to an so(3) representation. More... | |
| const arma::vec3 | mr::so3ToVec (const arma::mat33 &so3mat) |
| Converts an so(3) representation to a 3-vector. More... | |
| const std::tuple< const arma::vec3, double > | mr::AxisAng3 (const arma::vec3 &expc3) |
| Converts a 3-vector of exponential coordinates for rotation into axis-angle form. More... | |
| const arma::mat33 | mr::MatrixExp3 (const arma::mat33 &so3mat) |
| Computes the matrix exponential of a matrix in so(3) More... | |
| const arma::mat33 | mr::MatrixLog3 (const arma::mat33 &R) |
| Computes the matrix logarithm of a rotation matrix. More... | |
| const arma::mat44 | mr::RpToTrans (const arma::mat33 &R, const arma::vec3 &p) |
| Converts a rotation matrix and a position vector into homogeneous transformation matrix. More... | |
| const std::tuple< const arma::mat33, const arma::vec3 > | mr::TransToRp (const arma::mat44 &T) |
| Converts a homogeneous transformation matrix into a rotation matrix and position vector. More... | |
| const arma::mat44 | mr::TransInv (const arma::mat44 &T) |
| Inverts a homogeneous transformation matrix. More... | |
| const arma::mat44 | mr::VecTose3 (const arma::vec6 &V) |
| Converts a spatial velocity vector into a 4x4 matrix in se3. More... | |
| const arma::vec6 | mr::se3ToVec (const arma::mat44 &se3mat) |
| Converts an se3 matrix into a spatial velocity vector. More... | |
| const arma::mat66 | mr::Adjoint (const arma::mat44 &T) |
| Computes the adjoint representation of a homogeneous transformation matrix. More... | |
| const arma::vec6 | mr::ScrewToAxis (const arma::vec3 &q, const arma::vec3 &s, const double h) |
| Takes a parametric description of a screw axis and converts it to a normalized screw axis. More... | |
| const std::tuple< const arma::vec6, double > | mr::AxisAng6 (const arma::vec6 &expc6) |
| Converts a 6-vector of exponential coordinates into screw axis-angle form. More... | |
| const arma::mat44 | mr::MatrixExp6 (const arma::mat44 &se3mat) |
| Computes the matrix exponential of an se3 representation of exponential coordinates. More... | |
| const arma::mat44 | mr::MatrixLog6 (const arma::mat44 &T) |
| Computes the matrix logarithm of a homogeneous transformation matrix. More... | |
| const arma::mat33 | mr::ProjectToSO3 (const arma::mat33 &mat) |
| Returns a projection of mat into SO(3) More... | |
| const arma::mat44 | mr::ProjectToSE3 (const arma::mat44 &mat) |
| Returns a projection of mat into SE(3) More... | |
| double | mr::DistanceToSO3 (const arma::mat33 &mat) |
| Returns the Frobenius norm to describe the distance of mat from the SO(3) manifold. More... | |
| double | mr::DistanceToSE3 (const arma::mat44 &mat) |
| Returns the Frobenius norm to describe the distance of mat from the SE(3) manifold. More... | |
| bool | mr::TestIfSO3 (const arma::mat33 &mat) |
| Returns true if mat is close to or on the manifold SO(3) More... | |
| bool | mr::TestIfSE3 (const arma::mat44 &mat) |
| Returns true if mat is close to or on the manifold SE(3) More... | |
