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amino
1.0-beta2
Lightweight Robot Utility Library
|
|
amino
1.0-beta2
Lightweight Robot Utility Library
|
A transformation matrix object. More...
#include <spatial.hpp>
Public Member Functions | |
| TfMat () | |
| Construct an identity transformation matrix. | |
| TfMat (const struct aa_tf_tfmat *T) | |
| Construct a transformation matrix from another transformation matrix. | |
| TfMat (const struct aa_tf_tfmat &T) | |
| Construct a transformation matrix from another transformation matrix. | |
| TfMat (const struct aa_tf_duqu *S) | |
| Construct a transformation matrix from a dual quaternion. | |
| TfMat (const struct aa_tf_duqu &S) | |
| Construct a transformation matrix from a dual quaternion. | |
| TfMat (const struct aa_tf_qv *S) | |
| Construct a transformation matrix from a quaternion-translation. | |
| TfMat (const struct aa_tf_qv &S) | |
| Construct a transformation matrix from a quaternion-translation. | |
| TfMat (const struct aa_tf_quat *_r, const struct aa_tf_vec3 *_v) | |
| Construct a transformation matrix from a quaternion-translation. | |
| TfMat (const struct aa_tf_quat &_r, const struct aa_tf_vec3 &_v) | |
| Construct a transformation matrix from a quaternion-translation. | |
| void | transform (const double a[3], double b[3]) const |
| Transform a vector. | |
| void | transform (const aa_tf_vec3 *a, aa_tf_vec3 *b) const |
| Transform a vector. | |
| aa_tf_vec3 | transform (const aa_tf_vec3 &a) const |
| Transform a vector. | |
Static Public Member Functions | |
| static aa_tf_tfmat | from_duqu (const double s[8]) |
| Construct a transformation matrix from a dual quaternion. | |
| static aa_tf_tfmat | from_qv (const double q[4], const double v[3]) |
| Construct a transformation matrix from a rotation quaternion and translation vector. | |
| static aa_tf_tfmat | from_tfmat (const double t[12]) |
| Construct a transformation matrix from another transformation matrix. | |
Additional Inherited Members | |
 Public Attributes inherited from aa_tf_tfmat | |
| union { | |
| struct { | |
| double R [9] | |
| the rotation matrix part | |
| aa_tf_vec3_t v | |
| the origin vector part | |
| } | |
| double data [12] | |
| data array | |
| }; | |
A transformation matrix object.
Definition at line 1015 of file spatial.hpp.