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altransformhelpers.h File Reference
#include <almath/types/alposition2d.h>
#include <almath/types/alposition3d.h>
#include <almath/types/alposition6d.h>
#include <almath/types/alrotation.h>
#include <almath/types/alrotation3d.h>
#include <almath/types/alvelocity6d.h>
#include <almath/types/altransform.h>
#include <almath/types/alaxismask.h>
#include <almath/types/alpose2d.h>
#include <almath/types/alquaternion.h>
#include <almath/types/aldisplacement.h>

Go to the source code of this file.

Namespaces

 AL
 
 AL::Math
 

Macros

#define _LIBALMATH_ALMATH_TOOLS_ALTRANSFORMHELPERS_H_
 

Functions

void AL::Math::transformLogarithmInPlace (const Transform &pT, Velocity6D &pVel)
 Compute the logarithme of a transform. Angle must be between $\left[-\pi+0.001, \pi-0.001\right]$ More...
 
Velocity6D AL::Math::transformLogarithm (const Transform &pT)
 Compute the logarithme of a transform. Angle must be between $\left[-\pi+0.001, \pi-0.001\right] $ More...
 
Transform AL::Math::velocityExponential (const Velocity6D &pVel)
 
void AL::Math::velocityExponentialInPlace (const Velocity6D &pVel, Transform &pT)
 
void AL::Math::changeReferenceVelocity6D (const Transform &pT, const Velocity6D &pVelIn, Velocity6D &pVelOut)
 
void AL::Math::changeReferencePosition6D (const Transform &pT, const Position6D &pPosIn, Position6D &pPosOut)
 
void AL::Math::changeReferencePosition3DInPlace (const Transform &pT, Position3D &pPosOut)
 
void AL::Math::changeReferenceTransposePosition3DInPlace (const Transform &pT, Position3D &pPosOut)
 
void AL::Math::changeReferencePosition3D (const Transform &pT, const Position3D &pPosIn, Position3D &pPosOut)
 
void AL::Math::changeReferenceTransposePosition3D (const Transform &pT, const Position3D &pPosIn, Position3D &pPosOut)
 
void AL::Math::changeReferenceTransform (const Transform &pT, const Transform &pTIn, Transform &pTOut)
 
void AL::Math::changeReferenceTransposeTransform (const Transform &pT, const Transform &pTIn, Transform &pTOut)
 
void AL::Math::changeReferenceTransposeVelocity6D (const Transform &pT, const Velocity6D &pVelIn, Velocity6D &pVelOut)
 
void AL::Math::changeReferenceTransposePosition6D (const Transform &pT, const Position6D &pPosIn, Position6D &pPosOut)
 
void AL::Math::transformMeanInPlace (const Transform &pTIn1, const Transform &pTIn2, const float &pVal, Transform &pTOut)
 Preform a logarithmic mean of pTIn1 and pTIn2 and put it in pTout. More...
 
Transform AL::Math::transformMean (const Transform &pTIn1, const Transform &pTIn2, const float &pVal=0.5f)
 Preform a logarithmic mean of pTIn1 and pTIn2. More...
 
Transform AL::Math::transformFromRotationPosition3D (const Rotation &pRot, const float &pX, const float &pY, const float &pZ)
 Create a Transform from 3D cartesian coordiantes and a Rotation. More...
 
Transform AL::Math::transformFromRotationPosition3D (const Rotation &pRot, const Position3D &pPos)
 Create a Transform from a Position3D and a Rotation. More...
 
void AL::Math::transformFromPosition3DInPlace (const Position3D &pPosition, Transform &pTransform)
 Modify pTransform to set the translation part to pPosition. More...
 
Transform AL::Math::transformFromPosition3D (const Position3D &pPosition)
 Create a 4*4 transform matrix from cartesian coordinates given in pPosition. More...
 
void AL::Math::transformFromRotationInPlace (const Rotation &pRotation, Transform &pTransform)
 Modify the rotation part of the transform. The translation part of the transform is not modified. More...
 
Transform AL::Math::transformFromRotation (const Rotation &pRotation)
 
void AL::Math::rotationFromTransformInPlace (const Transform &pTransform, Rotation &pRotation)
 Extract the position coordinates from a Transform. More...
 
Rotation AL::Math::rotationFromTransform (const Transform &pTransform)
 
Rotation3D AL::Math::rotation3DFromRotation (const Rotation &pRotation)
 return 3 angles which result in the equivalent rotation when composed in the following order: Rz(wz) * Ry(wy) * Rx(wx) = R More...
 
Rotation AL::Math::rotationFromAxesXY (const Position3D &pX, const Position3D &pY)
 return a Rotation Matrix initialized with its direction vectors X and Y in world coordinates. These vectors represent, respectively, the first and second columns of the Rotation matrix. The vectors must be unitary and orthogonal. More...
 
Rotation AL::Math::rotationFromAxesXZ (const Position3D &pX, const Position3D &pZ)
 return a Rotation Matrix initialized with its direction vectors X and Z in world coordinates. These vectors represent, respectively, the first and third columns of the Rotation matrix. The vectors must be unitary and orthogonal. More...
 
Rotation AL::Math::rotationFromAxesYZ (const Position3D &pY, const Position3D &pZ)
 return a Rotation Matrix initialized with its direction vectors X and Y in world coordinates. These vectors represent, respectively, the second and third columns of the Rotation matrix. The vectors must be unitary and orthogonal. More...
 
Rotation AL::Math::rotationFromAxesXYZ (const Position3D &pX, const Position3D &pY, const Position3D &pZ)
 return a Rotation Matrix initialized with its direction vectors in world coordinates. The vectors represent the columns of the Rotation matrix. The vectors must be unitary and orthogonal. More...
 
void AL::Math::position6DFromTransformInPlace (const Transform &pT, Position6D &pPos)
 Compute Position6D corresponding to the Transform. More...
 
Position6D AL::Math::position6DFromTransform (const Transform &pT)
 Compute Position6D corresponding to 4*4 Homogenous Transform. More...
 
void AL::Math::transformFromPose2DInPlace (const Pose2D &pPose, Transform &pT)
 Compute a Transform from a Pose2D. More...
 
Transform AL::Math::transformFromPose2D (const Pose2D &pPose)
 Create a Transform from a Pose2D. More...
 
void AL::Math::pose2DFromTransformInPlace (const Transform &pT, Pose2D &pPos)
 Compute a Pose2D from a Transform. More...
 
Pose2D AL::Math::pose2DFromTransform (const Transform &pT)
 Create a Pose2D from a Transform. More...
 
void AL::Math::position2DFromTransformInPlace (const Transform &pT, Position2D &pPos)
 Compute a Position2D from a Transform. More...
 
Position2D AL::Math::position2DFromTransform (const Transform &pT)
 Create a Position2D from a Transform. More...
 
Transform AL::Math::transformFromRotation3D (const Rotation3D &pRotation)
 Create a Transform from the 3 angles stored in a Rotation3D. The angles are composed in the following order: Rz(wz) * Ry(wy) * Rx(wx) = R More...
 
Transform AL::Math::transformFromPosition6D (const Position6D &pPosition6D)
 Create a Transform from a Position6D. More...
 
void AL::Math::position6DFromTransformDiffInPlace (const Transform &pCurrent, const Transform &pTarget, Position6D &result)
 Computes a 6 differential motion required to move from a 4*4 Homogenous transform matrix Current to a 4*4 Homogenous transform matrix target. More...
 
Position6D AL::Math::position6DFromTransformDiff (const Transform &pCurrent, const Transform &pTarget)
 Computes a 6 differential motion require to move from a 4*4 Homogenous transform matrix Current to a 4*4 Homogenous transform matrix target. More...
 
void AL::Math::position3DFromTransformInPlace (const Transform &pT, Position3D &pPos)
 Compute a Position3D from a Transform. More...
 
Position3D AL::Math::position3DFromTransform (const Transform &pT)
 Create a Position3D from a Transform. More...
 
Rotation3D AL::Math::rotation3DFromTransform (const Transform &pT)
 Create a Rotation3D (Roll, Pitch, Yaw) corresponding to the rotational part of the Transform. R = Rz(wz) * Ry(wy) * Rx(wx) More...
 
void AL::Math::transformFromRotVecInPlace (const int pAxis, const float pTheta, const Position3D &pPos, Transform &pT)
 Compute a Transform from More...
 
Transform AL::Math::transformFromRotVec (const int pAxis, const float pTheta, const Position3D &pPos)
 
void AL::Math::transformFromRotVecInPlace (const Position3D &pPos, Transform &pT)
 
Transform AL::Math::transformFromRotVec (const Position3D &pPos)
 
Transform AL::Math::transformFromRotVec (const int &pAxis, const float &pTheta)
 
Position3D AL::Math::operator* (const Transform &pT, const Position2D &pPos)
 
Position3D AL::Math::operator* (const Transform &pT, const Position3D &pPos)
 
Transform AL::Math::axisRotationProjection (const Position3D &pAxis, const Transform &pT)
 
Rotation AL::Math::axisRotationProjection (const Position3D &pAxis, const Rotation &pRot)
 
void AL::Math::axisRotationProjectionInPlace (const Position3D &pAxis, Transform &pT)
 
void AL::Math::axisRotationProjectionInPlace (const Position3D &pAxis, Rotation &pRot)
 
void AL::Math::orthogonalSpace (const Position3D &pPos, Transform &pTf)
 
Transform AL::Math::orthogonalSpace (const Position3D &pPos)
 
Transform AL::Math::transformFromQuaternion (const Quaternion &pQua)
 
Quaternion AL::Math::quaternionFromTransform (const Transform &pT)
 
Transform AL::Math::transformFromDisplacement (const Displacement &pDisp)
 
Displacement AL::Math::displacementFromTransform (const Transform &pTrans)
 

Macro Definition Documentation

#define _LIBALMATH_ALMATH_TOOLS_ALTRANSFORMHELPERS_H_

Definition at line 10 of file altransformhelpers.h.