/home/laradmin/lar/utils/mit_darpa_logs_player/src/rotations.cpp File Reference

utilities for rotations math More...

#include <stdio.h>
#include <string.h>
#include <math.h>
#include <assert.h>
#include "rotations.h"

Include dependency graph for rotations.cpp:

Go to the source code of this file.

Defines
#define	FAIL_TEST
Functions
static int	feq (double a, double b)
static int	qeq (double *q, double a, double b, double c, double d)
void	rot_angle_axis_to_quat (double theta, const double axis[3], double q[4])
void	rot_angle_axis_to_roll_pitch_yaw (double theta, const double axis[3], double rpy[3])
int	rot_matrix_to_quat (const double rot[9], double quat[4])
void	rot_quat_mult (double c[4], const double a[4], const double b[4])
	rot_quat_mult
int	rot_quat_pos_to_matrix (const double quat[4], const double pos[3], double mat[16])
void	rot_quat_rotate (const double rot[4], double v[3])
	rot_quat_rotate
void	rot_quat_rotate_rev (const double rot[4], double v[3])
	rot_quat_rotate_rev
void	rot_quat_to_angle_axis (const double q[4], double *theta, double axis[3])
int	rot_quat_to_matrix (const double quat[4], double rot[9])
void	rot_quat_to_roll_pitch_yaw (const double q[4], double rpy[3])
int	rot_quaternion_test ()
void	rot_roll_pitch_yaw_to_angle_axis (const double rpy[3], double *theta, double axis[3])
void	rot_roll_pitch_yaw_to_quat (const double rpy[3], double q[4])
static int	rpyeq (double roll, double pitch, double yaw, double r, double p, double y)

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Detailed Description

utilities for rotations math

Definition in file rotations.cpp.

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Define Documentation

#define FAIL_TEST

Value:

{ fprintf(stderr, "rot_quaternion_test failed at line %d\n", \
        __LINE__); return 0; }

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Function Documentation

static int feq	(	double	a,
		double	b
	)			[inline, static]

Definition at line 41 of file rotations.cpp.

static int qeq	(	double *	q,
		double	a,
		double	b,
		double	c,
		double	d
	)			[inline, static]

Definition at line 46 of file rotations.cpp.

void rot_angle_axis_to_quat	(	double	theta,
		const double	axis[3],
		double	q[4]
	)

Definition at line 134 of file rotations.cpp.

void rot_angle_axis_to_roll_pitch_yaw	(	double	theta,
		const double	axis[3],
		double	rpy[3]
	)

Definition at line 218 of file rotations.cpp.

int rot_matrix_to_quat	(	const double	rot[9],
		double	quat[4]
	)

Definition at line 289 of file rotations.cpp.

void rot_quat_mult	(	double	c[4],
		const double	a[4],
		const double	b[4]
	)

rot_quat_mult

Multiplies quaternion a with quaternion b and stores the result in c. Arguments a and b must be double-precision floating point arrays of length 4.

Parameters:

	c	Array where the result of the multiplication is stored. Must be at least 4 elements long.
	a	Input quaternion to be multiplied (left-side).
	b	Input quaternion to be multiplied (right-side).

Definition at line 68 of file rotations.cpp.

int rot_quat_pos_to_matrix	(	const double	quat[4],
		const double	pos[3],
		double	mat[16]
	)

Definition at line 260 of file rotations.cpp.

void rot_quat_rotate	(	const double	rot[4],
		double	v[3]
	)

rot_quat_rotate

Rotates a vector v from one coordinate system to another as specified by a unit quaternion rot.

Parameters:

	rot	Unit quaternion that specifies the rotation.
	v	3-vector that is rotated according to the quaternion and modified in place with the result.

Definition at line 87 of file rotations.cpp.

void rot_quat_rotate_rev	(	const double	rot[4],
		double	v[3]
	)

rot_quat_rotate_rev

Rotates a vector v from one coordinate system to another as specified by a unit quaternion rot, but performs the rotation in the reverse direction of rot_quat_rotate().

Parameters:

	rot	Unit quaternion that specifies the rotation.
	v	3-vector that is rotated according to the quaternion rot and modified in place with the result.

Definition at line 116 of file rotations.cpp.

void rot_quat_to_angle_axis	(	const double	q[4],
		double *	theta,
		double	axis[3]
	)

Definition at line 153 of file rotations.cpp.

int rot_quat_to_matrix	(	const double	quat[4],
		double	rot[9]
	)

Definition at line 228 of file rotations.cpp.

void rot_quat_to_roll_pitch_yaw	(	const double	q[4],
		double	rpy[3]
	)

Definition at line 194 of file rotations.cpp.

int rot_quaternion_test

(

)

Definition at line 320 of file rotations.cpp.

void rot_roll_pitch_yaw_to_angle_axis	(	const double	rpy[3],
		double *	theta,
		double	axis[3]
	)

Definition at line 209 of file rotations.cpp.

void rot_roll_pitch_yaw_to_quat	(	const double	rpy[3],
		double	q[4]
	)

Definition at line 171 of file rotations.cpp.

static int rpyeq	(	double	roll,
		double	pitch,
		double	yaw,
		double	r,
		double	p,
		double	y
	)			[inline, static]

Definition at line 52 of file rotations.cpp.