39 static hduVector3Dd destination;
40 static Eigen::Vector3d coord_in_world_ref;
42 coord_in_world_ref = (
rotz(-90.) *
roty(-90.)) * (Eigen::Vector3d) source ;
44 destination[0] = coord_in_world_ref[0];
45 destination[1] = coord_in_world_ref[1];
46 destination[2] = coord_in_world_ref[2];
53 static hduVector3Dd destination;
54 static Eigen::Vector3d coord_in_phantom_ref;
56 coord_in_phantom_ref = (
rotz(90.) *
rotx(90.)) * (Eigen::Vector3d) source ;
58 destination[0] = coord_in_phantom_ref[0];
59 destination[1] = coord_in_phantom_ref[1];
60 destination[2] = coord_in_phantom_ref[2];
69 static const hduMatrix rotation_x_90(1,0,0,0,
74 static const hduMatrix rotation_z_90(0,-1,0,0,
79 return (rotation_z_90 * rotation_x_90) * source;
hd_hl_apis_aux.h file for this module. Contains includes, prototypes and global vars.
Eigen::Matrix3d rotx(double angle_in_degrees)
Function to calculate rotation matrix over the X axis.
hduVector3Dd TransformPHANToMCoordinatesToWorldCoordinates(hduVector3Dd source)
Function to rotate PhANToM oriented vector to world referencial.
Eigen::Matrix3d roty(double angle_in_degrees)
Function to calculate rotation matrix over the Y axis.
Eigen::Matrix3d rotz(double angle_in_degrees)
Function to calculate rotation matrix over the Z axis.
hduVector3Dd TransformWorldCoordinatesToPHaNToMCoordinates(hduVector3Dd source)
Function to rotate world oriented vector to PHANToM referencial.
hduMatrix TransformPHANToMCoordinateMatrixToWorldCoordinateMatrix(hduMatrix source)
Function to rotate PhANToM transform matrix to world referencial.