Namespaces
	DSP

	glTF

	RigidBodySystemBuilder

Classes
class	Shape3D

class	Sphere

class	RoundedRectangle

class	Pill

class	Plane

class	HalfSpace

class	Rectangle

class	HalfLine

class	Shape3DVisitor

class	NotImplementedShape3DVisitor

struct	BodyMass

struct	Displacement
	Struct composed of a Position3D and a Quaternion More...

struct	Pose2D
	A pose in a 2-dimentional space. More...

struct	Position2D
	Create and play with a Position2D. More...

struct	Position3D
	Create and play with a Position3D. More...

struct	Position6D
	Create and play with a Position6D. More...

struct	PositionAndVelocity
	Create and play with a PositionAndVelocity. More...

struct	Quaternion
	Create and play with a Quaternion. More...

struct	Rotation
	A 3*3 rotation matrix. More...

struct	Rotation3D
	A Rotation3D give 3 composed angles in radians. More...

struct	Transform
	A homogenous transformation matrix. More...

struct	TransformAndVelocity6D
	Struct composed of a Transform and a Velocity6D More...

struct	Velocity3D
	Create and play with a Velocity3D. More...

struct	Velocity6D
	Create and play with a Velocity6D. More...

struct	Point2Di
	Create a Point2Di. Point2Di are used on objects that deal with pixels only, and should not care about metric distances. More...

struct	Pose2Di
	Create a Pose2Di. Pose2Di are used on objects that deal with pixels only, and should not care about metric distances. More...

struct	OccupancyMapParams
	Create a OccupancyMapParams. OccupancyMapParams are used used to define occupancy maps and to provide helpers to change from metrical to pixel frames. Maps are squared. More...

Typedefs
typedef Eigen::Matrix< float, 3, 4 >	Matrix34f

typedef Eigen::Matrix< float, 3, 4, Eigen::RowMajor >	Matrix34frm

typedef Eigen::Matrix< float, 6, 1 >	Vector6f

typedef std::bitset< 6 >	AXIS_MASK
	Definition of an AXIS_MASK as a bit set. More...

typedef std::vector< Pose2D >	Pose2DVect

typedef std::vector< Pose2Di >	Pose2DiVect

Functions
ALMATH_API void	getSphereCentersFromPill (float pHalfExtent, const Math::Transform &pEndTfToPillCenter, Math::Position3D &pCenterA, Math::Position3D &pCenterB)

ALMATH_API void	computePillParameters (const Math::Position3D &pEndTfToCenterA, const Math::Position3D &pEndTfToCenterB, float &pHalfExtent, Math::Transform &pEndTfToPillCenter)

Eigen::Map< const Matrix34frm >	toEigenMapMatrix34 (const Math::Transform &tr)

Matrix34f	toEigenMatrix34 (const Math::Transform &tr)

Eigen::Matrix3f	toEigenMatrix3 (const Math::Transform &tr)

template<typename T >
Eigen::Quaternion< T >	toEigenQuaternion (const Math::Transform &tr)

Eigen::Vector3f	toEigenVector3 (const Math::Position3D &v)

Eigen::AffineCompact3f	toEigenAffineCompact3 (const Math::Transform &tr)

template<typename Derived0 >
void	toALMathTransform (const Eigen::MatrixBase< Derived0 > &in, Transform &out)

template<typename Derived0 >
Transform	toALMathTransform (const Eigen::MatrixBase< Derived0 > &m)

template<int _Mode, int _Options>
void	toALMathTransform (const Eigen::Transform< float, 3, _Mode, _Options > &in, Transform &out)

template<int _Mode, int _Options>
Transform	toALMathTransform (const Eigen::Transform< float, 3, _Mode, _Options > &tr)

template<typename Derived0 >
Position3D	toALMathPosition3D (const Eigen::MatrixBase< Derived0 > &in)

template<typename Derived0 >
void	toALMathVelocity6D (const Eigen::MatrixBase< Derived0 > &in, Velocity6D &out)

template<typename Derived0 >
Velocity6D	toALMathVelocity6D (const Eigen::MatrixBase< Derived0 > &in)

template<class RandomAccessRange >
Math::Transform	averageTransforms (const RandomAccessRange &range)

Transform	transformFromQiTransform (const qi::geometry::Transform &r)

qi::geometry::Transform	qiTransformFromALMath (const Transform &tf)

AL::Math::Pose2D	pose2DFromQiTransform (const qi::geometry::Transform &r)

qi::geometry::Transform	qiTransformFromPose2D (const Pose2D &pose)

template<typename Scalar , typename Derived0 , typename Derived1 >
void	addPointMassInertia (Scalar mass, const Eigen::MatrixBase< Derived0 > &position, Eigen::MatrixBase< Derived1 > &output)

template<typename T >
bool	operator== (const BodyMass< T > &lhs, const BodyMass< T > &rhs)

template<typename T , typename BodyMassRange >
BodyMass< T >	squashBodyMasses (const BodyMassRange &bodymasses)

template<typename T >
BodyMass< T >	operator+ (const BodyMass< T > &lhs, const BodyMass< T > &rhs)

ros::Time	toValidRosTime (qi::Duration time_since_epoch)

qi::Duration	toQiDuration (ros::Time time)

Eigen::Quaterniond	eigenQuaternionFromUrdfRpy (const AL::urdf::Array3d &rpy)

template<typename T >
AL::urdf::Array3d	urdfRpyFromEigenMatrix3 (const T &t)

Eigen::Isometry3d	toEigenTransform (const AL::urdf::Pose &p)

Eigen::AffineCompact3d	toEigenAffineCompact3 (const AL::urdf::Pose &p)

Eigen::Isometry3d	toEigenIsometry3 (const AL::urdf::Pose &p)

template<typename T >
AL::urdf::Pose	urdfPoseFromEigenTransform (const T &t)

Eigen::Matrix3d	toEigenMatrix3 (const AL::urdf::Inertial &inertial)

template<typename Scalar , typename EPose , typename Derived1 >
void	squashInertial (Scalar mass_a, const EPose &pose_a, const Eigen::MatrixBase< Derived1 > &inertia_a, Scalar mass_b, const EPose &pose_b, const Eigen::MatrixBase< Derived1 > &inertia_b, Scalar &mass_c, EPose &pose_c, Eigen::MatrixBase< Derived1 > &inertia_c)

template<typename Scalar , typename Derived0 , typename Derived1 >
void	urdfInertialToEigen (const AL::urdf::Inertial &inertial, Scalar &mass, Eigen::MatrixBase< Derived0 > &com_a, Eigen::MatrixBase< Derived1 > &inertia_a)

ALMATH_API void	buildRigidBodySystemFromUrdf (RigidBodySystemBuilder::Interface< double > &builder, urdf::ptree &pt, bool remove_root_joint=false, bool make_continuous_joints_fixed=false)

ALMATH_API void	buildRigidBodySystemFromUrdf (RigidBodySystemBuilder::Interface< double > &builder, std::istream &is, bool remove_root_joint=false, bool make_continuous_joints_fixed=false)

ALMATH_API std::vector< Pose2D >	getDubinsSolutions (const Pose2D &pTargetPose, const float pCircleRadius)
	Get the dubins solutions. More...

ALMATH_API void	modulo2PIInPlace (float &pAngle)
	Set an angle between ]-PI, PI]. More...

ALMATH_API float	modulo2PI (float pAngle)
	Return an angle between ]-PI, PI]. More...

ALMATH_API float	meanAngle (const std::vector< float > &pAngles)
	Returns the mean of given angles (between ]-PI, PI]). It is defined by the direction of the mean of all unitary vectors corresponding to the given angles. If that mean vector is a null vector, then the angular mean is not defined and the method will throw. For example, meanAngle([0, PI]) throws. More...

ALMATH_API float	weightedMeanAngle (const std::vector< float > &pAngles, const std::vector< float > &pWeights)
	Returns the weighted mean of given angles (between ]-PI, PI]). It is defined by the direction of the mean of all unitary vectors corresponding to the given angles, multiplied by the given weights. If that mean vector is a null vector, then the angular mean is not defined and the method will throw. For example, meanAngle([0, PI], [1.0, 1.0]) throws. More...

ALMATH_API bool	clipData (const float &pMin, const float &pMax, float &pData)
	Clip an input data inside min and max limit. More...

ALMATH_API bool	clipData (const float &pMin, const float &pMax, std::vector< float > &pData)

ALMATH_API bool	clipData (const float &pMin, const float &pMax, std::vector< std::vector< float > > &pData)

ALMATH_API void	changeReferencePose2D (const float &pTheta, const Pose2D &pPosIn, Pose2D &pPosOut)

ALMATH_API void	changeReferencePose2DInPlace (const float &pTheta, Pose2D &pPosOut)
	Change orientation of a Pose2D in place. More...

ALMATH_API Position6D	position6DFromVelocity6D (const Velocity6D &pVel)
	Create a Position6D from a Velocity6D More...

ALMATH_API void	position2DFromPose2DInPlace (const Pose2D &pPose2D, Position2D &pPosition2D)
	Compute a Position2D from a Pose2D. The theta member of the Pose2D is not taken into account. More...

ALMATH_API Position2D	position2DFromPose2D (const Pose2D &pPose2D)
	Create a Position2D from a Pose2D More...

ALMATH_API Position3D	position3DFromPosition6D (const Position6D &pPosition6D)
	Create a Position3D from a Position6D More...

ALMATH_API Position3D	operator* (const Rotation &pRot, const Position3D &pPos)
	Overloading of operator * between Rotation and Position3D: More...

ALMATH_API Position3D	operator* (const Quaternion &pQuat, const Position3D &pPos)
	Overloading of operator * between Quaternion and Position3D More...

ALMATH_API Velocity6D	operator* (const float pVal, const Position6D &pPos)
	Overloading of operator * for float to Position6D, give a Velocity6D: More...

ALMATH_API Velocity3D	operator* (const float pVal, const Position3D &pPos)
	Overloading of operator * for float to Position3D, give a Velocity3D: More...

ALMATH_API Velocity3D	operator* (const Rotation &pRot, const Velocity3D &pVel)
	Overloading of operator * between Rotation and Velocity3D: More...

ALMATH_API Rotation	rotationFromAngleDirection (const float &pTheta, const Position3D &pPos)
	Creates a 3*3 Rotation Matrix from a an angle and a normalized Position3D. More...

ALMATH_API void	position6DFromPose2DInPlace (const Pose2D &pPose2D, Position6D &pPosition6D)
	Compute a Position6D from a Pose2D. More...

ALMATH_API Position6D	position6DFromPose2D (const Pose2D &pPose2D)
	Create a Position6D from a Pose2D. More...

ALMATH_API void	position6DFromPosition3DInPlace (const Position3D &pPosition3D, Position6D &pPosition6D)
	Compute a Position6D from a Position3D. More...

ALMATH_API Position6D	position6DFromPosition3D (const Position3D &pPosition3D)
	Create a Position6D from a Position3D. More...

ALMATH_API void	pose2DFromPosition6DInPlace (const Position6D &pPosition6D, Pose2D &pPose2D)
	Compute a Pose2D from a Position6D. More...

ALMATH_API Pose2D	pose2DFromPosition6D (const Position6D &pPosition6D)
	Create a Pose2D from a Position6D. More...

ALMATH_API void	pose2DFromPosition2DInPlace (const Position2D &pPosition2D, const float pAngle, Pose2D &pPose2D)
	Compute a Pose2D from a Position2D. pPose2D.x = pPosition2D.x pPose2D.y = pPosition2D.y pPose2D.theta = pAngle More...

ALMATH_API Pose2D	pose2DFromPosition2D (const Position2D &pPosition2D, const float pAngle=0.0f)
	Create a Pose2D from a Position2D. More...

ALMATH_API Position2D	operator* (const Pose2D &pVal, const Position2D &pPos)
	Overloading of operator * for Pose2D to Position2D, give a Position2D: More...

ALMATH_API void	quaternionFromRotation3D (const Rotation3D &pRot3D, Quaternion &pQuaternion)
	Create a Quaternion from a Rotation3D when composed in the following order: Rz(wz) * Ry(wy) * Rx(wx) More...

ALMATH_API Quaternion	quaternionFromRotation3D (const Rotation3D &pRot3D)

ALMATH_API void	rotationFromQuaternion (const Quaternion &pQua, Rotation &pRot)
	Create a Rotation Matrix from a Quaternion More...

ALMATH_API Rotation	rotationFromQuaternion (const Quaternion &pQua)

ALMATH_API void	rotation3DFromQuaternion (const Quaternion &pQuaterion, Rotation3D &pRot3D)
	Create a Rotation3D from a Quaternion when composed in the following order: Rz(wz) * Ry(wy) * Rx(wx) More...

ALMATH_API Rotation3D	rotation3DFromQuaternion (const Quaternion &pQuaternion)

ALMATH_API void	quaternionPosition3DFromPosition6D (const Position6D &pPos6D, Quaternion &pQua, Position3D &pPos3D)
	Convert a Position6D to Quaternion and Position3D More...

ALMATH_API void	pointMassRotationalInertia (float pMass, const Position3D &pPos, std::vector< float > &pInertia)
	Return the rotational inertia, expressed at the origin, of a point mass located at pPos. The inertia value is More...

ALMATH_API std::ostream &	operator<< (std::ostream &pStream, const Pose2D &pPos)
	Overloading of operator << for Pose2D. More...

ALMATH_API std::ostream &	operator<< (std::ostream &pStream, const Position2D &pPos)
	Overloading of operator << for Position2D. More...

ALMATH_API std::ostream &	operator<< (std::ostream &pStream, const Position3D &pPos)
	Overloading of operator << for Position3D. More...

ALMATH_API std::ostream &	operator<< (std::ostream &pStream, const Position6D &pPos)
	Overloading of operator << for Position6D. More...

ALMATH_API std::ostream &	operator<< (std::ostream &pStream, const PositionAndVelocity &pPosVel)
	Overloading of operator << for PositionAndVelocity. More...

ALMATH_API std::ostream &	operator<< (std::ostream &pStream, const Rotation &pRot)
	Overloading of operator << for Rotation. More...

ALMATH_API std::ostream &	operator<< (std::ostream &pStream, const Rotation3D &pRot)
	Overloading of operator << for Rotation3D. More...

ALMATH_API std::ostream &	operator<< (std::ostream &pStream, const Transform &pT)
	Overloading of operator << for Transform. More...

ALMATH_API std::ostream &	operator<< (std::ostream &pStream, const TransformAndVelocity6D &pTV)
	Overloading of operator << for TransformAndVelocity6D. More...

ALMATH_API std::ostream &	operator<< (std::ostream &pStream, const Velocity3D &pVel)
	Overloading of operator << for Velocity3D. More...

ALMATH_API std::ostream &	operator<< (std::ostream &pStream, const Quaternion &pQua)
	Overloading of operator << for Quaternion. More...

ALMATH_API std::ostream &	operator<< (std::ostream &pStream, const Velocity6D &pVel)
	Overloading of operator << for Velocity6D. More...

ALMATH_API std::string	toSpaceSeparated (const Position3D &pPos)
	Create a string of Position3D. More...

ALMATH_API std::string	toSpaceSeparated (const Rotation3D &pPos)
	Create a string of Rotation3D. More...

ALMATH_API std::string	toSpaceSeparated (const Velocity6D &pVel)
	Create a string of Velocity6D. More...

ALMATH_API std::string	toSpaceSeparated (const Transform &pT)
	Create a string of Transform. More...

ALMATH_API std::string	toSpaceSeparated (const Position6D &pPos)
	Create a string of Position6D. More...

ALMATH_API std::string	toSpaceSeparated (const Quaternion &pQuat)
	Create a string of Quaternion. More...

ALMATH_API void	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...

ALMATH_API Velocity6D	transformLogarithm (const Transform &pT)
	Compute the logarithme of a transform. Angle must be between $\left[-\pi+0.001, \pi-0.001\right]$ More...

ALMATH_API Transform	velocityExponential (const Velocity6D &pVel)

ALMATH_API void	velocityExponentialInPlace (const Velocity6D &pVel, Transform &pT)

ALMATH_API void	changeReferenceVelocity6D (const Transform &pT, const Velocity6D &pVelIn, Velocity6D &pVelOut)

ALMATH_API void	changeReferencePosition6D (const Transform &pT, const Position6D &pPosIn, Position6D &pPosOut)

ALMATH_API void	changeReferencePosition3DInPlace (const Transform &pT, Position3D &pPosOut)

ALMATH_API void	changeReferenceTransposePosition3DInPlace (const Transform &pT, Position3D &pPosOut)

ALMATH_API void	changeReferencePosition3D (const Transform &pT, const Position3D &pPosIn, Position3D &pPosOut)

ALMATH_API void	changeReferenceTransposePosition3D (const Transform &pT, const Position3D &pPosIn, Position3D &pPosOut)

ALMATH_API void	changeReferenceTransform (const Transform &pT, const Transform &pTIn, Transform &pTOut)

ALMATH_API void	changeReferenceTransposeTransform (const Transform &pT, const Transform &pTIn, Transform &pTOut)

ALMATH_API void	changeReferenceTransposeVelocity6D (const Transform &pT, const Velocity6D &pVelIn, Velocity6D &pVelOut)

ALMATH_API void	changeReferenceTransposePosition6D (const Transform &pT, const Position6D &pPosIn, Position6D &pPosOut)

ALMATH_API void	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...

ALMATH_API Transform	transformMean (const Transform &pTIn1, const Transform &pTIn2, const float &pVal=0.5f)
	Preform a logarithmic mean of pTIn1 and pTIn2. More...

ALMATH_API Transform	transformFromRotationPosition3D (const Rotation &pRot, const float &pX, const float &pY, const float &pZ)
	Create a Transform from 3D cartesian coordiantes and a Rotation. More...

ALMATH_API Transform	transformFromRotationPosition3D (const Rotation &pRot, const Position3D &pPos)
	Create a Transform from a Position3D and a Rotation. More...

ALMATH_API void	transformFromPosition3DInPlace (const Position3D &pPosition, Transform &pTransform)
	Modify pTransform to set the translation part to pPosition. More...

ALMATH_API Transform	transformFromPosition3D (const Position3D &pPosition)
	Create a 4*4 transform matrix from cartesian coordinates given in pPosition. More...

ALMATH_API void	transformFromRotationInPlace (const Rotation &pRotation, Transform &pTransform)
	Modify the rotation part of the transform. The translation part of the transform is not modified. More...

ALMATH_API Transform	transformFromRotation (const Rotation &pRotation)

ALMATH_API void	rotationFromTransformInPlace (const Transform &pTransform, Rotation &pRotation)
	Extract the position coordinates from a Transform. More...

ALMATH_API Rotation	rotationFromTransform (const Transform &pTransform)

ALMATH_API Rotation3D	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...

ALMATH_API Rotation	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...

ALMATH_API Rotation	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...

ALMATH_API Rotation	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...

ALMATH_API Rotation	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...

ALMATH_API void	position6DFromTransformInPlace (const Transform &pT, Position6D &pPos)
	Compute Position6D corresponding to the Transform. More...

ALMATH_API Position6D	position6DFromTransform (const Transform &pT)
	Compute Position6D corresponding to 4*4 Homogenous Transform. More...

ALMATH_API void	transformFromPose2DInPlace (const Pose2D &pPose, Transform &pT)
	Compute a Transform from a Pose2D. More...

ALMATH_API Transform	transformFromPose2D (const Pose2D &pPose)
	Create a Transform from a Pose2D. More...

ALMATH_API void	pose2DFromTransformInPlace (const Transform &pT, Pose2D &pPos)
	Compute a Pose2D from a Transform. More...

ALMATH_API Pose2D	pose2DFromTransform (const Transform &pT)
	Create a Pose2D from a Transform. More...

ALMATH_API void	position2DFromTransformInPlace (const Transform &pT, Position2D &pPos)
	Compute a Position2D from a Transform. More...

ALMATH_API Position2D	position2DFromTransform (const Transform &pT)
	Create a Position2D from a Transform. More...

ALMATH_API Transform	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...

ALMATH_API Transform	transformFromPosition6D (const Position6D &pPosition6D)
	Create a Transform from a Position6D. More...

ALMATH_API void	position6DFromTransformDiffInPlace (const Transform &pCurrent, const Transform &pTarget, Position6D &result)
	Computes a 6 differential motion required to move from a 44 Homogenous transform matrix Current to a 44 Homogenous transform matrix target. More...

ALMATH_API Position6D	position6DFromTransformDiff (const Transform &pCurrent, const Transform &pTarget)
	Computes a 6 differential motion require to move from a 44 Homogenous transform matrix Current to a 44 Homogenous transform matrix target. More...

ALMATH_API void	position3DFromTransformInPlace (const Transform &pT, Position3D &pPos)
	Compute a Position3D from a Transform. More...

ALMATH_API Position3D	position3DFromTransform (const Transform &pT)
	Create a Position3D from a Transform. More...

ALMATH_API Rotation3D	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...

ALMATH_API void	transformFromRotVecInPlace (const int pAxis, const float pTheta, const Position3D &pPos, Transform &pT)
	Compute a Transform from More...

ALMATH_API Transform	transformFromRotVec (const int pAxis, const float pTheta, const Position3D &pPos)

ALMATH_API void	transformFromRotVecInPlace (const Position3D &pPos, Transform &pT)

ALMATH_API Transform	transformFromRotVec (const Position3D &pPos)

ALMATH_API Transform	transformFromRotVec (const int &pAxis, const float &pTheta)

ALMATH_API Position3D	operator* (const Transform &pT, const Position2D &pPos)

ALMATH_API Position3D	operator* (const Transform &pT, const Position3D &pPos)

ALMATH_API Transform	axisRotationProjection (const Position3D &pAxis, const Transform &pT)

ALMATH_API Rotation	axisRotationProjection (const Position3D &pAxis, const Rotation &pRot)

ALMATH_API void	axisRotationProjectionInPlace (const Position3D &pAxis, Transform &pT)

ALMATH_API void	axisRotationProjectionInPlace (const Position3D &pAxis, Rotation &pRot)

ALMATH_API void	orthogonalSpace (const Position3D &pPos, Transform &pTf)

ALMATH_API Transform	orthogonalSpace (const Position3D &pPos)

ALMATH_API Transform	transformFromQuaternion (const Quaternion &pQua)

ALMATH_API Quaternion	quaternionFromTransform (const Transform &pT)

ALMATH_API Transform	transformFromDisplacement (const Displacement &pDisp)

ALMATH_API Displacement	displacementFromTransform (const Transform &pTrans)

ALMATH_API const bool	avoidFootCollision (const std::vector< Position2D > &pLFootBoundingBox, const std::vector< Position2D > &pRFootBoundingBox, const bool &pIsLeftSupport, Pose2D &pMove)
	Compute the best position(orientation) of the foot to avoid collision. More...

ALMATH_API const bool	clipFootWithEllipse (const float &pMaxFootX, const float &pMaxFootY, Pose2D &pMove)
	Clip foot move with ellipsoid function More...

ALMATH_API const bool	areTwoBoxesInCollision (const std::vector< Position2D > &pBoxA, const std::vector< Position2D > &pBoxB)

ALMATH_API void	computeBox (const std::vector< Position2D > &pInitBox, const Pose2D &pMove, std::vector< Position2D > &pMovedBox)

ALMATH_API const void	dichotomie (const std::vector< Position2D > &pFixedBox, const std::vector< Position2D > &pMovingBox, Pose2D &pMove)

ALMATH_API bool	intersectionSegment2D (const Position2D &pA1, const Position2D &pA2, const Position2D &pB1, const Position2D &pB2, Position2D &pC)

ALMATH_API bool	isAxisMask (const int pAxisMask)
	Validates an AxisMask. More...

ALMATH_API float	distanceSquared (const Pose2D &pPos1, const Pose2D &pPos2)
	Compute the squared distance between two Pose2D. More...

ALMATH_API float	distance (const Pose2D &pPos1, const Pose2D &pPos2)
	Compute the distance between two Pose2D. More...

ALMATH_API void	pose2dInvertInPlace (Pose2D &pPos)
	Inverse the given Pose2D in place: More...

ALMATH_API Pose2D	pinv (const Pose2D &pPos)
	Alternative name for inverse: return the pose2d inverse of the given Pose2D. More...

ALMATH_API Pose2D	pose2dDiff (const Pose2D &pPos1, const Pose2D &pPos2)
	Compute the Pose2D between the actual Pose2D and the one give in argument result: More...

ALMATH_API Pose2D	pose2DInverse (const Pose2D &pPos)
	Compute the inverse of a Pose2D. More...

ALMATH_API void	pose2DInverse (const Pose2D &pPos, Pose2D &pRes)
	Compute the inverse of a Pose2D. More...

ALMATH_API Position2D	operator* (const float pM, const Position2D &pPos1)

ALMATH_API float	distanceSquared (const Position2D &pPos1, const Position2D &pPos2)
	Compute the squared distance between two Position2D. More...

ALMATH_API float	distance (const Position2D &pPos1, const Position2D &pPos2)
	Compute the distance between two Position2D : More...

ALMATH_API float	norm (const Position2D &pPos)
	Compute the norm of a Position2D. More...

ALMATH_API Position2D	normalize (const Position2D &pPos)
	Normalize a Position2D. More...

ALMATH_API float	dotProduct (const Position2D &pPos1, const Position2D &pPos2)
	Compute the dot Product between two Position2D: More...

ALMATH_API float	crossProduct (const Position2D &pPos1, const Position2D &pPos2)
	Compute the cross Product of two Position2D. More...

ALMATH_API void	crossProduct (const Position2D &pPos1, const Position2D &pPos2, float &pRes)
	Compute the cross Product of two Position2D. More...

ALMATH_API float	distanceSquared (const Position3D &pPos1, const Position3D &pPos2)
	Compute the squared distance between two Position3D: More...

ALMATH_API float	distance (const Position3D &pPos1, const Position3D &pPos2)
	Compute the distance between two Position3D: More...

ALMATH_API float	norm (const Position3D &pPos)
	Compute the norm of a Position3D: More...

ALMATH_API Position3D	normalize (const Position3D &pPos)
	Normalize a Position3D: More...

ALMATH_API float	dotProduct (const Position3D &pPos1, const Position3D &pPos2)
	Compute the dot Product between two Position3D: More...

ALMATH_API Position3D	crossProduct (const Position3D &pPos1, const Position3D &pPos2)
	Compute the cross Product between two Position3D: More...

ALMATH_API void	crossProduct (const Position3D &pPos1, const Position3D &pPos2, Position3D &pRes)
	Compute the cross Product between two Position3D: More...

ALMATH_API bool	isUnitVector (const Position3D &pPos, const float &pEpsilon=0.0001f)
	Checks if the norm of a Position3D is near to 1.0 More...

ALMATH_API bool	isOrthogonal (const Position3D &pPos1, const Position3D &pPos2, const float &pEpsilon=0.0001f)
	Checks if two Position3D are orthogonal More...

ALMATH_API float	distanceSquared (const Position6D &pPos1, const Position6D &pPos2)
	Compute the squared distance of translation part (x, y and z) between two Position6D: More...

ALMATH_API float	distance (const Position6D &pPos1, const Position6D &pPos2)
	Compute the distance of translation part (x, y and z) between two Position6D: More...

ALMATH_API float	norm (const Position6D &pPos)
	Compute the norm of a Position6D: More...

ALMATH_API Position6D	normalize (const Position6D &pPos)
	Normalize a Position6D: More...

ALMATH_API float	norm (const Quaternion &pQua)
	Compute the norm of a Quaternion: More...

ALMATH_API Quaternion	normalize (const Quaternion &pQua)
	Normalize a Quaternion: More...

ALMATH_API void	quaternionInverse (const Quaternion &pQua, Quaternion &pQuaOut)
	Return the quaternion inverse of the given Quaternion: More...

ALMATH_API Quaternion	quaternionInverse (const Quaternion &pQua)
	Return the quaternion inverse of the given Quaternion More...

ALMATH_API Quaternion	quaternionFromAngleAndAxisRotation (const float pAngle, const float pAxisX, const float pAxisY, const float pAxisZ)
	Create a Quaternion initialized with explicit angle and axis rotation. More...

ALMATH_API void	angleAndAxisRotationFromQuaternion (const Quaternion &pQuaternion, float &pAngle, float &pAxisX, float &pAxisY, float &pAxisZ)
	Compute angle and axis rotation from a Quaternion. More...

ALMATH_API std::vector< float >	angleAndAxisRotationFromQuaternion (const Quaternion &pQuaternion)
	Compute angle and axis rotation from a Quaternion. More...

ALMATH_API Rotation	transpose (const Rotation &pRot)
	Compute the transpose rotation of the one given in argument: More...

ALMATH_API float	determinant (const Rotation &pRot)
	Compute the determinant of the given Rotation: More...

ALMATH_API void	normalizeRotation (Rotation &pRot)
	Normalize data, if needed, to have Rotation properties. More...

ALMATH_API Rotation	rotationFromQuaternion (const float pA, const float pB, const float pC, const float pD)
	Creates a 3*3 Rotation Matrix from a normalized quaternion ( \|a + bi + cj + dk\| = 1). More...

ALMATH_API Rotation	rotationFromAngleDirection (const float pAngle, const float pX, const float pY, const float pZ)
	Creates a 3*3 Rotation Matrix from a an angle and a normalized direction( \|pX, pY, pZ\| = 1). More...

ALMATH_API void	applyRotation (const AL::Math::Rotation &pRot, float &pX, float &pY, float &pZ)
	Apply Rotation to a 3D point. More...

ALMATH_API Rotation	rotationFromRotX (const float pRotX)
	Create a Rotation initialized with explicit rotation around x axis. More...

ALMATH_API Rotation	rotationFromRotY (const float pRotY)
	Create a Rotation initialized with explicit rotation around y axis. More...

ALMATH_API Rotation	rotationFromRotZ (const float pRotZ)
	Create a Rotation initialized with explicit rotation around z axis. More...

ALMATH_API Rotation	rotationFrom3DRotation (const float &pWX, const float &pWY, const float &pWZ)
	Create a Rotation initialized with euler angle. Rot = fromRotZ(pWZ)fromRotY(pWY)fromRotX(pWX) More...

ALMATH_API float	norm (const Rotation3D &pRot)
	Compute the norm of a Rotation3D: More...

ALMATH_API void	transformPreMultiply (const Transform &pT, Transform &pTOut)
	pTOut = pT*pTOut More...

ALMATH_API float	norm (const Transform &pT)
	Compute the norm translation part of the actual Transform: More...

ALMATH_API void	normalizeTransform (Transform &pT)
	Normalize data, if needed, to have transform properties. More...

ALMATH_API void	transformToFloatVector (const Transform &pT, std::vector< float > &pTOut)
	DEPRECATED: Use toVector function. Copy the Transform in a vector of float: More...

ALMATH_API std::vector< float >	transformToFloatVector (const Transform &pT)
	DEPRECATED: Use toVector function. Return the Transform in a vector of float: More...

ALMATH_API float	determinant (const Transform &pT)
	Compute the determinant of rotation part of the given Transform: More...

ALMATH_API float	determinant (const std::vector< float > &pFloats)
	Compute the determinant of rotation part of the given vector of floats: More...

ALMATH_API void	transformInverse (const Transform &pT, Transform &pTOut)
	Return the transform inverse of the given Transform: More...

ALMATH_API Transform	transformInverse (const Transform &pT)
	Return the transform inverse of the given Transform: More...

ALMATH_API Transform	transformFromRotX (const float pRotX)
	Create a Transform initialize with explicit rotation around x axis: More...

ALMATH_API Transform	transformFromRotY (const float pRotY)
	Create a Transform initialize with explicit rotation around y axis: More...

ALMATH_API Transform	transformFromRotZ (const float pRotZ)
	Create a Transform initialize with explicit rotation around z axis: More...

ALMATH_API Transform	transformFrom3DRotation (const float &pWX, const float &pWY, const float &pWZ)
	Create a Transform initialize with euler angle: H = fromRotZ(pWZ)fromRotY(pWY)fromRotX(pWX) More...

ALMATH_API Transform	transformFromPosition (const float &pX, const float &pY, const float &pZ)
	Create a Transform initialize with explicit value for translation part: More...

ALMATH_API Transform	transformFromPosition (const float &pX, const float &pY, const float &pZ, const float &pWX, const float &pWY, const float &pWZ)
	Create a Transform initialize with explicit value for translation part and euler angle: More...

ALMATH_API void	transformInvertInPlace (Transform &pT)
	Inverse the given Transform in place: More...

ALMATH_API Transform	pinv (const Transform &pT)
	Alternative name for inverse: return the transform inverse of the given Transform: More...

ALMATH_API Transform	transformDiff (const Transform &pT1, const Transform &pT2)
	Compute the Transform between the actual Transform and the one give in argument result: More...

ALMATH_API float	transformDistanceSquared (const Transform &pT1, const Transform &pT2)
	Compute the squared distance between the actual Transform and the one give in argument (translation part): More...

ALMATH_API float	transformDistance (const Transform &pT1, const Transform &pT2)
	Compute the distance between the actual Transform and the one give in argument: More...

ALMATH_API Velocity3D	operator* (const float pM, const Velocity3D &pVel1)

ALMATH_API float	norm (const Velocity3D &pVel)
	Compute the norm of a Velocity3D: More...

ALMATH_API Velocity3D	normalize (const Velocity3D &pVel)
	Normalize a Velocity3D: More...

ALMATH_API Velocity6D	operator* (const float pVal, const Velocity6D &pVel)
	Overloading of operator * for left Velocity6D. More...

ALMATH_API float	norm (const Velocity6D &pVel)
	Compute the norm of a Velocity6D: More...

ALMATH_API Velocity6D	normalize (const Velocity6D &pVel)
	Normalize a Velocity6D: More...

Variables
class ALMATH_API	Shape3DVisitor

Typedef Documentation

typedef Eigen::Matrix<float, 3, 4> AL::Math::Matrix34f

Definition at line 21 of file almatheigen.h.

typedef Eigen::Matrix<float, 3, 4, Eigen::RowMajor> AL::Math::Matrix34frm

Definition at line 22 of file almatheigen.h.

typedef std::vector<Pose2Di> AL::Math::Pose2DiVect

Definition at line 50 of file occupancymapparams.h.

typedef std::vector<Pose2D> AL::Math::Pose2DVect

Definition at line 49 of file occupancymapparams.h.

typedef Eigen::Matrix<float, 6, 1> AL::Math::Vector6f

Definition at line 23 of file almatheigen.h.

Function Documentation

template<typename Scalar , typename Derived0 , typename Derived1 >

void AL::Math::addPointMassInertia	(	Scalar	mass,
		const Eigen::MatrixBase< Derived0 > &	position,
		Eigen::MatrixBase< Derived1 > &	output
	)

Definition at line 17 of file bodymass.h.

ALMATH_API const bool AL::Math::areTwoBoxesInCollision	(	const std::vector< Position2D > &	pBoxA,
		const std::vector< Position2D > &	pBoxB
	)

template<class RandomAccessRange >

Math::Transform AL::Math::averageTransforms ( const RandomAccessRange & range )

Definition at line 117 of file almatheigen.h.

ALMATH_API Transform AL::Math::axisRotationProjection	(	const Position3D &	pAxis,
		const Transform &	pT
	)

Function axisRotationProjection: finding the closest rotation Rw of R around an axis (Position3D)

Parameters

pAxis	axis of rotation
pT	a transform

Returns: Transform

ALMATH_API Rotation AL::Math::axisRotationProjection	(	const Position3D &	pAxis,
		const Rotation &	pRot
	)

Function axisRotationProjection: finding the closest rotation Rw of R around an axis (Position3D)

Parameters

pAxis	axis of rotation
pRot	a rotation

Returns: Rotation

ALMATH_API void AL::Math::axisRotationProjectionInPlace	(	const Position3D &	pAxis,
		Transform &	pT
	)

Function axisRotationProjectionInPlace: finding the closest rotation Rw of R around an axis (Position3D)

Parameters

pAxis	axis of rotation
pT	a transform

ALMATH_API void AL::Math::axisRotationProjectionInPlace	(	const Position3D &	pAxis,
		Rotation &	pRot
	)

Function axisRotationProjectionInPlace: finding the closest rotation Rw of R around an axis (Position3D)

Parameters

pAxis	axis of rotation
pRot	a rotation

ALMATH_API void AL::Math::buildRigidBodySystemFromUrdf	(	RigidBodySystemBuilder::Interface< double > &	builder,
		urdf::ptree &	pt,
		bool	remove_root_joint = `false`,
		bool	make_continuous_joints_fixed = `false`
	)

ALMATH_API void AL::Math::buildRigidBodySystemFromUrdf	(	RigidBodySystemBuilder::Interface< double > &	builder,
		std::istream &	is,
		bool	remove_root_joint = `false`,
		bool	make_continuous_joints_fixed = `false`
	)

ALMATH_API void AL::Math::changeReferencePosition3DInPlace	(	const Transform &	pT,
		Position3D &	pPosOut
	)

ALMATH_API void AL::Math::changeReferenceTransposePosition3DInPlace	(	const Transform &	pT,
		Position3D &	pPosOut
	)

ALMATH_API bool AL::Math::clipData	(	const float &	pMin,
		const float &	pMax,
		std::vector< float > &	pData
	)

ALMATH_API bool AL::Math::clipData	(	const float &	pMin,
		const float &	pMax,
		std::vector< std::vector< float > > &	pData
	)

ALMATH_API void AL::Math::computeBox	(	const std::vector< Position2D > &	pInitBox,
		const Pose2D &	pMove,
		std::vector< Position2D > &	pMovedBox
	)

ALMATH_API void AL::Math::computePillParameters	(	const Math::Position3D &	pEndTfToCenterA,
		const Math::Position3D &	pEndTfToCenterB,
		float &	pHalfExtent,
		Math::Transform &	pEndTfToPillCenter
	)

ALMATH_API Position3D AL::Math::crossProduct	(	const Position3D &	pPos1,
		const Position3D &	pPos2
	)

Compute the cross Product between two Position3D:

$pRes.x = pPos1.y*pPos2.z - pPos1.z*pPos2.y$
$pRes.y = pPos1.z*pPos2.x - pPos1.x*pPos2.z$
$pRes.z = pPos1.x*pPos2.y - pPos1.y*pPos2.x$

Parameters

pPos1	the first Position3D
pPos2	the second Position3D

Returns: the Position3D cross product between the two Position3D

ALMATH_API void AL::Math::crossProduct	(	const Position3D &	pPos1,
		const Position3D &	pPos2,
		Position3D &	pRes
	)

Compute the cross Product between two Position3D:

$pRes.x = pPos1.y*pPos2.z - pPos1.z*pPos2.y$
$pRes.y = pPos1.z*pPos2.x - pPos1.x*pPos2.z$
$pRes.z = pPos1.x*pPos2.y - pPos1.y*pPos2.x$

Parameters

pPos1	the first Position3D
pPos2	the second Position3D
pRes	the Position3D cross product between the two Position3D

ALMATH_API const void AL::Math::dichotomie	(	const std::vector< Position2D > &	pFixedBox,
		const std::vector< Position2D > &	pMovingBox,
		Pose2D &	pMove
	)

ALMATH_API Displacement AL::Math::displacementFromTransform ( const Transform & pTrans )

Function displacementFromTransform: computing the displacement equivalent to the transform

Parameters

pTrans a transform

Returns: computed Displacement

ALMATH_API float AL::Math::dotProduct	(	const Position2D &	pPos1,
		const Position2D &	pPos2
	)

Compute the dot Product between two Position2D:

$pRes = (pPos1.x*pPos2.x + pPos1.y*pPos2.y)$

Parameters

pPos1	the first Position2D
pPos2	the second Position2D

Returns: the float dot product between the two Position2D

ALMATH_API float AL::Math::dotProduct	(	const Position3D &	pPos1,
		const Position3D &	pPos2
	)

Compute the dot Product between two Position3D:

$pRes = (pPos1.x*pPos2.x + pPos1.y*pPos2.y + pPos1.z*pPos2.z)$

Parameters

pPos1	the first Position3D
pPos2	the second Position3D

Returns: the float dot product between the two Position3D

Eigen::Quaterniond AL::Math::eigenQuaternionFromUrdfRpy ( const AL::urdf::Array3d & rpy )

inline

Definition at line 16 of file urdfeigen.h.

ALMATH_API void AL::Math::getSphereCentersFromPill	(	float	pHalfExtent,
		const Math::Transform &	pEndTfToPillCenter,
		Math::Position3D &	pCenterA,
		Math::Position3D &	pCenterB
	)

ALMATH_API bool AL::Math::intersectionSegment2D	(	const Position2D &	pA1,
		const Position2D &	pA2,
		const Position2D &	pB1,
		const Position2D &	pB2,
		Position2D &	pC
	)

ALMATH_API bool AL::Math::isAxisMask ( const int pAxisMask )

Validates an AxisMask.

Parameters

pAxisMask An Axis Mask.

Returns: true if it succeeds, false if it fails.

ALMATH_API Velocity3D AL::Math::operator*	(	const float	pM,
		const Velocity3D &	pVel1
	)

ALMATH_API Velocity6D AL::Math::operator*	(	const float	pVal,
		const Velocity6D &	pVel
	)

Overloading of operator * for left Velocity6D.

Parameters

pVal	the float factor.
pVel	the given Velocity6D.

ALMATH_API Position2D AL::Math::operator*	(	const float	pM,
		const Position2D &	pPos1
	)

ALMATH_API Position3D AL::Math::operator*	(	const Transform &	pT,
		const Position2D &	pPos
	)

ALMATH_API Position3D AL::Math::operator*	(	const Transform &	pT,
		const Position3D &	pPos
	)

template<typename T >

BodyMass<T> AL::Math::operator+	(	const BodyMass< T > &	lhs,
		const BodyMass< T > &	rhs
	)

Definition at line 111 of file bodymass.h.

template<typename T >

bool AL::Math::operator==	(	const BodyMass< T > &	lhs,
		const BodyMass< T > &	rhs
	)

Definition at line 79 of file bodymass.h.

ALMATH_API void AL::Math::orthogonalSpace	(	const Position3D &	pPos,
		Transform &	pTf
	)

Function orthogonalSpace: create an orthonormal direct base from a vector (Position3D)

Parameters

pPos	a vector of direction
pTf	the result transform

ALMATH_API Transform AL::Math::orthogonalSpace ( const Position3D & pPos )

AL::Math::Pose2D AL::Math::pose2DFromQiTransform ( const qi::geometry::Transform & r )

inline

Definition at line 46 of file almathqigeometry.hpp.

qi::geometry::Transform AL::Math::qiTransformFromALMath ( const Transform & tf )

inline

Definition at line 36 of file almathqigeometry.hpp.

qi::geometry::Transform AL::Math::qiTransformFromPose2D ( const Pose2D & pose )

inline

Definition at line 52 of file almathqigeometry.hpp.

ALMATH_API Quaternion AL::Math::quaternionFromRotation3D ( const Rotation3D & pRot3D )

ALMATH_API Quaternion AL::Math::quaternionFromTransform ( const Transform & pT )

ALMATH_API Rotation3D AL::Math::rotation3DFromQuaternion ( const Quaternion & pQuaternion )

ALMATH_API Rotation AL::Math::rotationFromQuaternion ( const Quaternion & pQua )

template<typename T , typename BodyMassRange >

BodyMass<T> AL::Math::squashBodyMasses ( const BodyMassRange & bodymasses )

Definition at line 86 of file bodymass.h.

template<typename Scalar , typename EPose , typename Derived1 >

void AL::Math::squashInertial	(	Scalar	mass_a,
		const EPose &	pose_a,
		const Eigen::MatrixBase< Derived1 > &	inertia_a,
		Scalar	mass_b,
		const EPose &	pose_b,
		const Eigen::MatrixBase< Derived1 > &	inertia_b,
		Scalar &	mass_c,
		EPose &	pose_c,
		Eigen::MatrixBase< Derived1 > &	inertia_c
	)

Definition at line 72 of file urdfeigen.h.

template<typename Derived0 >

Position3D AL::Math::toALMathPosition3D ( const Eigen::MatrixBase< Derived0 > & in )

Definition at line 85 of file almatheigen.h.

template<typename Derived0 >

void AL::Math::toALMathTransform	(	const Eigen::MatrixBase< Derived0 > &	in,
		Transform &	out
	)

Definition at line 55 of file almatheigen.h.

template<typename Derived0 >

Transform AL::Math::toALMathTransform ( const Eigen::MatrixBase< Derived0 > & m )

Definition at line 64 of file almatheigen.h.

template<int _Mode, int _Options>

void AL::Math::toALMathTransform	(	const Eigen::Transform< float, 3, _Mode, _Options > &	in,
		Transform &	out
	)

Definition at line 71 of file almatheigen.h.

template<int _Mode, int _Options>

Transform AL::Math::toALMathTransform ( const Eigen::Transform< float, 3, _Mode, _Options > & tr )

Definition at line 77 of file almatheigen.h.

template<typename Derived0 >

void AL::Math::toALMathVelocity6D	(	const Eigen::MatrixBase< Derived0 > &	in,
		Velocity6D &	out
	)

Definition at line 94 of file almatheigen.h.

template<typename Derived0 >

Velocity6D AL::Math::toALMathVelocity6D ( const Eigen::MatrixBase< Derived0 > & in )

Definition at line 105 of file almatheigen.h.

Eigen::AffineCompact3d AL::Math::toEigenAffineCompact3 ( const AL::urdf::Pose & p )

inline

Definition at line 35 of file urdfeigen.h.

Eigen::AffineCompact3f AL::Math::toEigenAffineCompact3 ( const Math::Transform & tr )

inline

Definition at line 49 of file almatheigen.h.

Eigen::Isometry3d AL::Math::toEigenIsometry3 ( const AL::urdf::Pose & p )

inline

Definition at line 41 of file urdfeigen.h.

Eigen::Map<const Matrix34frm> AL::Math::toEigenMapMatrix34 ( const Math::Transform & tr )

inline

Definition at line 26 of file almatheigen.h.

Eigen::Matrix3f AL::Math::toEigenMatrix3 ( const Math::Transform & tr )

inline

Definition at line 34 of file almatheigen.h.

Eigen::Matrix3d AL::Math::toEigenMatrix3 ( const AL::urdf::Inertial & inertial )

inline

Definition at line 54 of file urdfeigen.h.

Matrix34f AL::Math::toEigenMatrix34 ( const Math::Transform & tr )

inline

Definition at line 30 of file almatheigen.h.

template<typename T >

Eigen::Quaternion<T> AL::Math::toEigenQuaternion ( const Math::Transform & tr )

inline

Definition at line 40 of file almatheigen.h.

Eigen::Isometry3d AL::Math::toEigenTransform ( const AL::urdf::Pose & p )

inline

Definition at line 29 of file urdfeigen.h.

Eigen::Vector3f AL::Math::toEigenVector3 ( const Math::Position3D & v )

inline

Definition at line 45 of file almatheigen.h.

qi::Duration AL::Math::toQiDuration ( ros::Time time )

inline

Definition at line 64 of file qirostime.h.

ros::Time AL::Math::toValidRosTime ( qi::Duration time_since_epoch )

inline

Definition at line 35 of file qirostime.h.

ALMATH_API Transform AL::Math::transformFromDisplacement ( const Displacement & pDisp )

Function transformFromDisplacement: computing the transform equivalent to the displacement

Parameters

pDisp a displacement

Returns: computed Transform

Transform AL::Math::transformFromQiTransform ( const qi::geometry::Transform & r )

inline

Definition at line 23 of file almathqigeometry.hpp.

ALMATH_API Transform AL::Math::transformFromQuaternion ( const Quaternion & pQua )

template<typename Scalar , typename Derived0 , typename Derived1 >

void AL::Math::urdfInertialToEigen	(	const AL::urdf::Inertial &	inertial,
		Scalar &	mass,
		Eigen::MatrixBase< Derived0 > &	com_a,
		Eigen::MatrixBase< Derived1 > &	inertia_a
	)

Definition at line 109 of file urdfeigen.h.

template<typename T >

AL::urdf::Pose AL::Math::urdfPoseFromEigenTransform ( const T & t )

Definition at line 48 of file urdfeigen.h.

template<typename T >

AL::urdf::Array3d AL::Math::urdfRpyFromEigenMatrix3 ( const T & t )

Definition at line 24 of file urdfeigen.h.

ALMATH_API void AL::Math::velocityExponentialInPlace	(	const Velocity6D &	pVel,
		Transform &	pT
	)

Variable Documentation

class ALMATH_API AL::Math::Shape3DVisitor

Definition at line 17 of file shapes3d.h.

Namespaces

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation