Classes | |
class | OpenRAVE::geometry::RaveVector< T > |
Vector class containing 4 dimensions. More... | |
class | OpenRAVE::geometry::RaveTransform< T > |
Affine transformation parameterized with quaterions. More... | |
class | OpenRAVE::geometry::RaveTransformMatrix< T > |
Affine transformation parameterized with rotation matrices. Scales and shears are not supported. More... | |
Functions | |
template<typename T > | |
RaveVector< T > | OpenRAVE::geometry::quatFromAxisAngle (const RaveVector< T > &axis, T angle) |
Converts an axis-angle rotation into a quaternion. | |
template<typename T > | |
RaveVector< T > | OpenRAVE::geometry::quatFromAxisAngle (const RaveVector< T > &axisangle) |
Converts an axis-angle rotation into a quaternion. | |
template<typename T > | |
RaveVector< T > | OpenRAVE::geometry::quatFromMatrix (const RaveTransformMatrix< T > &rotation) |
Converts the rotation of a matrix into a quaternion. | |
template<typename T > | |
RaveTransformMatrix< T > | OpenRAVE::geometry::matrixFromQuat (const RaveVector< T > &quat) |
Converts a quaternion to a 3x3 matrix. | |
template<typename T > | |
void | OpenRAVE::geometry::matrixFromQuat (RaveTransformMatrix< T > &rotation, const RaveVector< T > &quat) |
Converts a quaternion to a 3x3 matrix. | |
template<typename T > | |
RaveTransformMatrix< T > | OpenRAVE::geometry::matrixFromAxisAngle (const RaveVector< T > &axis, T angle) |
Converts an axis-angle rotation to a 3x3 matrix. | |
template<typename T > | |
RaveTransformMatrix< T > | OpenRAVE::geometry::matrixFromAxisAngle (const RaveVector< T > &axisangle) |
Converts an axis-angle rotation to a 3x3 matrix. | |
template<typename T > | |
RaveVector< T > | OpenRAVE::geometry::quatMultiply (const RaveVector< T > &quat0, const RaveVector< T > &quat1) |
Multiply two quaternions. | |
template<typename T > | |
RaveVector< T > | OpenRAVE::geometry::quatInverse (const RaveVector< T > &quat) |
Inverted a quaternion rotation. | |
template<typename T > | |
RaveVector< T > | OpenRAVE::geometry::quatSlerp (const RaveVector< T > &quat0, const RaveVector< T > &quat1, T t) |
Sphereical linear interpolation between two quaternions. | |
template<typename T > | |
RaveVector< T > | OpenRAVE::geometry::quatRotate (const RaveVector< T > &q, const RaveVector< T > &t) |
transform a vector by a quaternion | |
template<typename T > | |
RaveVector< T > | OpenRAVE::geometry::quatRotateDirection (const RaveVector< T > &sourcedir, const RaveVector< T > &targetdir) |
Return the minimal quaternion that orients sourcedir to targetdir. | |
template<typename T > | |
std::pair< T, RaveVector< T > > | OpenRAVE::geometry::normalizeAxisRotation (const RaveVector< T > &axis, const RaveVector< T > &quat) |
Find the rotation theta around axis such that rot(axis,theta) * q is closest to the identity rotation. | |
template<typename T > | |
RaveVector< T > | OpenRAVE::geometry::axisAngleFromQuat (const RaveVector< T > &quat) |
Converts a quaternion into the axis-angle representation. | |
template<typename T > | |
RaveVector< T > | OpenRAVE::geometry::axisAngleFromMatrix (const RaveTransformMatrix< T > &rotation) |
Converts the rotation of a matrix into axis-angle representation. | |
template<typename T > | |
RaveTransformMatrix< T > | OpenRAVE::geometry::transformLookat (const RaveVector< T > &vlookat, const RaveVector< T > &vcamerapos, const RaveVector< T > &vcameraup) |
Returns a camera matrix that looks along a ray with a desired up vector. | |
OPENRAVE_API dReal | OpenRAVE::RaveExp (dReal f) |
exponential | |
OPENRAVE_API dReal | OpenRAVE::RaveLog (dReal f) |
logarithm | |
OPENRAVE_API dReal | OpenRAVE::RaveCos (dReal f) |
cosine | |
OPENRAVE_API dReal | OpenRAVE::RaveSin (dReal f) |
sine | |
OPENRAVE_API dReal | OpenRAVE::RaveTan (dReal f) |
tangent | |
OPENRAVE_API dReal | OpenRAVE::RaveLog2 (dReal f) |
base 2 logarithm | |
OPENRAVE_API dReal | OpenRAVE::RaveLog10 (dReal f) |
base 10 logarithm | |
OPENRAVE_API dReal | OpenRAVE::RaveAcos (dReal f) |
arccosine | |
OPENRAVE_API dReal | OpenRAVE::RaveAsin (dReal f) |
arcsine | |
OPENRAVE_API dReal | OpenRAVE::RaveAtan2 (dReal fy, dReal fx) |
arctangent2 covering entire circle | |
OPENRAVE_API dReal | OpenRAVE::RavePow (dReal fx, dReal fy) |
power x^y | |
OPENRAVE_API dReal | OpenRAVE::RaveSqrt (dReal f) |
square-root | |
OPENRAVE_API dReal | OpenRAVE::RaveFabs (dReal f) |
absolute value | |
A set of classes and functions that provide the basic affine math operations with vectors, matrices, and quaternions.
RaveVector<T> OpenRAVE::geometry::axisAngleFromMatrix | ( | const RaveTransformMatrix< T > & | rotation | ) |
Converts the rotation of a matrix into axis-angle representation.
rotation | 3x3 rotation matrix |
Definition at line 1130 of file geometry.h.
RaveVector<T> OpenRAVE::geometry::axisAngleFromQuat | ( | const RaveVector< T > & | quat | ) |
Converts a quaternion into the axis-angle representation.
quat | quaternion, (s,vx,vy,vz) |
Definition at line 1107 of file geometry.h.
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inline |
Converts an axis-angle rotation to a 3x3 matrix.
axis | unit axis, 3 values |
angle | rotation angle (radians) |
Definition at line 941 of file geometry.h.
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inline |
Converts an axis-angle rotation to a 3x3 matrix.
axis | unit axis * rotation angle (radians), 3 values |
Definition at line 950 of file geometry.h.
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inline |
Converts a quaternion to a 3x3 matrix.
[in] | quat | quaternion, (s,vx,vy,vz) |
Definition at line 883 of file geometry.h.
void OpenRAVE::geometry::matrixFromQuat | ( | RaveTransformMatrix< T > & | rotation, |
const RaveVector< T > & | quat | ||
) |
Converts a quaternion to a 3x3 matrix.
[out] | rotation | |
[in] | quat | quaternion, (s,vx,vy,vz) |
Definition at line 913 of file geometry.h.
std::pair<T, RaveVector<T> > OpenRAVE::geometry::normalizeAxisRotation | ( | const RaveVector< T > & | axis, |
const RaveVector< T > & | quat | ||
) |
Find the rotation theta around axis such that rot(axis,theta) * q is closest to the identity rotation.
[in] | axis | axis to minimize rotation about |
[in] | quat | input |
Definition at line 1093 of file geometry.h.
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inline |
Converts an axis-angle rotation into a quaternion.
axis | unit axis, 3 values |
angle | rotation angle (radians) |
Definition at line 807 of file geometry.h.
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inline |
Converts an axis-angle rotation into a quaternion.
axisangle | unit axis * rotation angle (radians), 3 values |
Definition at line 822 of file geometry.h.
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inline |
Converts the rotation of a matrix into a quaternion.
t | transform for extracting the 3x3 rotation. |
Definition at line 836 of file geometry.h.
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inline |
Inverted a quaternion rotation.
quat | quaternion, (s,vx,vy,vz) |
Definition at line 976 of file geometry.h.
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inline |
Multiply two quaternions.
quat0 | quaternion, (s,vx,vy,vz) |
quat1 | quaternion, (s,vx,vy,vz) |
Definition at line 961 of file geometry.h.
RaveVector<T> OpenRAVE::geometry::quatRotate | ( | const RaveVector< T > & | q, |
const RaveVector< T > & | t | ||
) |
RaveVector<T> OpenRAVE::geometry::quatRotateDirection | ( | const RaveVector< T > & | sourcedir, |
const RaveVector< T > & | targetdir | ||
) |
Return the minimal quaternion that orients sourcedir to targetdir.
sourcedir | direction of the original vector, 3 values |
targetdir | new direction, 3 values |
Definition at line 1063 of file geometry.h.
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inline |
Sphereical linear interpolation between two quaternions.
quat0 | quaternion, (s,vx,vy,vz) |
quat1 | quaternion, (s,vx,vy,vz) |
t | real value in [0,1]. 0 returns quat1, 1 returns quat2 |
Definition at line 988 of file geometry.h.
dReal OpenRAVE::RaveAcos | ( | dReal | f | ) |
arccosine
Definition at line 232 of file libopenrave.cpp.
dReal OpenRAVE::RaveAsin | ( | dReal | f | ) |
arcsine
Definition at line 235 of file libopenrave.cpp.
dReal OpenRAVE::RaveAtan2 | ( | dReal | fy, |
dReal | fx | ||
) |
arctangent2 covering entire circle
Definition at line 238 of file libopenrave.cpp.
dReal OpenRAVE::RaveCos | ( | dReal | f | ) |
cosine
Definition at line 211 of file libopenrave.cpp.
dReal OpenRAVE::RaveExp | ( | dReal | f | ) |
exponential
Wrappers of common basic math functions, allows OpenRAVE to control the precision requirements.
Definition at line 205 of file libopenrave.cpp.
dReal OpenRAVE::RaveFabs | ( | dReal | f | ) |
absolute value
Definition at line 247 of file libopenrave.cpp.
dReal OpenRAVE::RaveLog | ( | dReal | f | ) |
logarithm
Definition at line 208 of file libopenrave.cpp.
dReal OpenRAVE::RaveLog10 | ( | dReal | f | ) |
base 10 logarithm
Definition at line 229 of file libopenrave.cpp.
dReal OpenRAVE::RaveLog2 | ( | dReal | f | ) |
base 2 logarithm
Definition at line 225 of file libopenrave.cpp.
dReal OpenRAVE::RavePow | ( | dReal | fx, |
dReal | fy | ||
) |
power x^y
Definition at line 241 of file libopenrave.cpp.
dReal OpenRAVE::RaveSin | ( | dReal | f | ) |
sine
Definition at line 214 of file libopenrave.cpp.
dReal OpenRAVE::RaveSqrt | ( | dReal | f | ) |
dReal OpenRAVE::RaveTan | ( | dReal | f | ) |
tangent
Definition at line 217 of file libopenrave.cpp.
RaveTransformMatrix<T> OpenRAVE::geometry::transformLookat | ( | const RaveVector< T > & | vlookat, |
const RaveVector< T > & | vcamerapos, | ||
const RaveVector< T > & | vcameraup | ||
) |
Returns a camera matrix that looks along a ray with a desired up vector.
[in] | vlookat | the point space to look at, the camera will rotation and zoom around this point |
[in] | vcampos | the position of the camera in space |
[in] | vcamup | vector from the camera |
Definition at line 1157 of file geometry.h.