matrix.h File Reference

A head file define tpyes, and function for matrix manipulating. More...

#include "unit.h"
#include <cmath>
#include <Eigen/Dense>
#include <Eigen/Geometry>

Include dependency graph for matrix.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Namespaces
namespace	rb
	Robot Arm Library namespace.
namespace	rb::math
	math module namespace

Typedefs
typedef Eigen::MatrixXd	rb::math::MatrixX
	make MatrixX as alias of Eigen::MatrixXd
typedef Eigen::Matrix3d	rb::math::Matrix3
	make Matrix3 as alias of Eigen::Matrix3d
typedef Eigen::Matrix4d	rb::math::Matrix4
	make Matrix4 as alias of Eigen::Matrix4d
typedef Eigen::VectorXd	rb::math::VectorX
	make VectorX as alias of Eigen::VectorXd
typedef Eigen::Vector3d	rb::math::Vector3
	make Vector3 as alias of Eigen::Vector3d
typedef Eigen::Vector4d	rb::math::Vector4
	make Vector4 as alias of Eigen::Vector4d
typedef Eigen::AngleAxisd	rb::math::AngleAxis
	make AngleAxis as alias of Eigen::AngleAxisd
template<typename T , size_t R, size_t C>
using	rb::math::Array = Eigen::Array< T, R, C >
	make Array as alias of Eigen::Array (class template)
typedef Eigen::Array< double, 6, 1 >	rb::math::Array6
	make Array6 as alias of Eigen::Array<double, 6, 1>

Functions
Matrix4	rb::math::homoTrans (const double &A, const double &alpha, const double &D, const double theta)
	Compute homogeneous transformation matrix for given link properties, and return the matrix.
Matrix4	rb::math::rotateX (const double &rad)
	Compute rotation matrix about X axis for given angle in radians.
Matrix4	rb::math::rotateY (const double &rad)
	Compute rotation matrix about Y axis for given angle in radians.
Matrix4	rb::math::rotateZ (const double &rad)
	Compute rotation matrix about Z axis for given angle in radians.
void	rb::math::tr2rpy (const Matrix4 &m, double &roll_z, double &pitch_y, double &yaw_x)
	Extract Roll-Pitch-Yaw (Z-Y-X Euler) angles in radians from a homogeneous transformation matrix.
void	rb::math::rpy2tr (const double &roll_z, const double &pitch_y, const double &yaw_x, Matrix4 &out)
	Build a homogeneous transformation matrix from Roll-Pitch-Yaw angles (Z-Y-X Euler) given in radians.

Detailed Description

A head file define tpyes, and function for matrix manipulating.

Author

Chien-Pin Chen