rb::math Namespace Reference

math module namespace More...

Classes
class	Polynomial
	A class for constructing polynomial function. More...

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

Functions
Matrix4	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	rotateX (const double &rad)
	Compute rotation matrix about X axis for given angle in radians.
Matrix4	rotateY (const double &rad)
	Compute rotation matrix about Y axis for given angle in radians.
Matrix4	rotateZ (const double &rad)
	Compute rotation matrix about Z axis for given angle in radians.
void	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	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.

Variables
static const double	PI = 3.1415926535897932384626433832795
	Constant to present value of pi (more precise).
static const double	RAD2DEG = 57.295779513082320876798154814105
	Constant to present converting from radian to degree.
static const double	DEG2RAD = 0.01745329251994329576923690768489
	Constant to present converting from degree to radian.
static const double	EPSILON = std::numeric_limits<float>::epsilon()
	Constant as critera if some variable close enough to zero.
static const double	GRAVITY = 0.980665
	Constant to present value of gravity.

Detailed Description

math module namespace

Math module namespace.

Function Documentation

homoTrans()

Matrix4 rb::math::homoTrans ( const double &  A, const double &  alpha, const double &  D, const double  theta  )

inline

Compute homogeneous transformation matrix for given link properties, and return the matrix.

Parameters

A	Given link length.
alpha	Given link twist.
D	Given link offset.
theta	Given joint angle.

Returns

Homogeneous transformation matrix of given link properties.

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rpy2tr()

void rb::math::rpy2tr ( const double &  roll_z, const double &  pitch_y, const double &  yaw_x, Matrix4 &  out  )

inline

Build a homogeneous transformation matrix from Roll-Pitch-Yaw angles (Z-Y-X Euler) given in radians.

Parameters

roll_z	Roll (rotation about Z) in radians.
pitch_y	Pitch (rotation about Y) in radians.
yaw_x	Yaw (rotation about X) in radians.
out	Output 4x4 HT matrix (rotation part only; translation unchanged).

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tr2rpy()

void rb::math::tr2rpy ( const Matrix4 &  m, double &  roll_z, double &  pitch_y, double &  yaw_x  )

inline

Extract Roll-Pitch-Yaw (Z-Y-X Euler) angles in radians from a homogeneous transformation matrix.

Parameters

m	Input 4x4 HT matrix.
roll_z	Output roll (rotation about Z) in radians.
pitch_y	Output pitch (rotation about Y) in radians.
yaw_x	Output yaw (rotation about X) in radians.

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