scene_fk.h File Reference

Forward kinematics. More...

#include "scenegraph.h"
#include "rxtype.h"

Go to the source code of this file.

Functions
AA_API struct aa_rx_fk *	aa_rx_fk_alloc (const struct aa_rx_sg *scene_graph, struct aa_mem_region *reg)
	Region allocate a forward kinematics struct.
AA_API struct aa_rx_fk *	aa_rx_fk_malloc (const struct aa_rx_sg *scene_graph)
	Heap allocate a forward kinematics struct.
AA_API void	aa_rx_fk_cpy (struct aa_rx_fk *dst, const struct aa_rx_fk *src)
	Copy a forward kinematics struct.
AA_API double *	aa_rx_fk_data (const struct aa_rx_fk *fk)
	Pointer to FK data.
AA_API size_t	aa_rx_fk_ld (const struct aa_rx_fk *fk)
	Leading dimension of FK data.
AA_API size_t	aa_rx_fk_cnt (const struct aa_rx_fk *fk)
	Number of frames in the FK.
AA_API void	aa_rx_fk_destroy (struct aa_rx_fk *fk)
	Destroy a malloc'ed struct aa_rx_fk.
AA_API void	aa_rx_fk_all (struct aa_rx_fk *fk, const struct aa_dvec *q)
	Compute the forward kinematics.
AA_API double *	aa_rx_fk_ref (const struct aa_rx_fk *fk, aa_rx_frame_id id)
	Reference to internal storage for a transform.
AA_API void	aa_rx_fk_get_abs_qutr (const struct aa_rx_fk *fk, aa_rx_frame_id id, double E[7])
	Copy an absolute TF out of fk.
AA_API void	aa_rx_fk_get_rel_qutr (const struct aa_rx_fk *fk, aa_rx_frame_id parent, aa_rx_frame_id child, double E[7])
	Copy a relative TF out of fk.
AA_API void	aa_rx_fk_set_rel (struct aa_rx_fk *fk, aa_rx_frame_id id, const double E[AA_RX_TF_LEN])
	Update relative transform in the FK.
AA_API void	aa_rx_fk_rot_abs (const struct aa_rx_fk *fk, aa_rx_frame_id id, const double *v_id, double *v_abs)
	Rotate a point to absolute coordinates.

Detailed Description

Forward kinematics.

Definition in file scene_fk.h.