rotations.h File Reference

header file for rotations.cpp Transformation utilities More...

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Functions
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 quat[4], double v[3])
	rot_quat_rotate More...
void	rot_quat_rotate_rev (const double quat[4], double v[3])
	rot_quat_rotate_rev More...
int	rot_quat_to_matrix (const double quat[4], double rot[9])
int	rot_matrix_to_quat (const double rot[9], double quat[4])
int	rot_quat_pos_to_matrix (const double quat[4], const double pose[3], double m[16])
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 *angle, double axis[3])
void	rot_angle_axis_to_roll_pitch_yaw (double angle, const double axis[3], double rpy[3])
int	rot_quaternion_test ()

Detailed Description

header file for rotations.cpp Transformation utilities

Definition in file rotations.h.

Function Documentation

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	angle,
		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

This code allows several different rotation representations to be converted. The representations are:

Quaternion double[4] Angle/Axis double, double[3] Roll/Pitch/Yaw double[3] Rotation matrix double[9] Transform matrix double[16]

Note that these conventions have the property that each representation yields a different function signature. Detailed description starts here.

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	pose[3],
		double	m[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 *	angle,
		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.