utilities for rotations math More...
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Macros | |
#define | FAIL_TEST |
Functions | |
static int | feq (double a, double b) |
static int | qeq (double *q, double a, double b, double c, double d) |
static int | rpyeq (double roll, double pitch, double yaw, double r, double p, double y) |
void | rot_quat_mult (double c[4], const double a[4], const double b[4]) |
rot_quat_mult More... | |
void | rot_quat_rotate (const double rot[4], double v[3]) |
rot_quat_rotate More... | |
void | rot_quat_rotate_rev (const double rot[4], double v[3]) |
rot_quat_rotate_rev More... | |
void | rot_angle_axis_to_quat (double theta, const double axis[3], double q[4]) |
void | rot_quat_to_angle_axis (const double q[4], double *theta, double axis[3]) |
void | rot_roll_pitch_yaw_to_quat (const double rpy[3], double q[4]) |
void | rot_quat_to_roll_pitch_yaw (const double q[4], double rpy[3]) |
void | rot_roll_pitch_yaw_to_angle_axis (const double rpy[3], double *theta, double axis[3]) |
void | rot_angle_axis_to_roll_pitch_yaw (double theta, const double axis[3], double rpy[3]) |
int | rot_quat_to_matrix (const double quat[4], double rot[9]) |
int | rot_quat_pos_to_matrix (const double quat[4], const double pos[3], double mat[16]) |
int | rot_matrix_to_quat (const double rot[9], double quat[4]) |
int | rot_quaternion_test () |
utilities for rotations math
Definition in file rotations.cpp.
#define FAIL_TEST |
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inlinestatic |
Definition at line 41 of file rotations.cpp.
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inlinestatic |
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.
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.
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().
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.
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inlinestatic |
Definition at line 52 of file rotations.cpp.