27 #include <selforg/matrix.h>
28 #include <selforg/position.h>
46 {
while (v>360) v-=360;
while (v<360) v+=360;
return v; }
Matrix getRotationMatrix(const double &angle)
returns a rotation matrix with the given angle
Definition: mathutils.cpp:128
Matrix type.
Definition: matrix.h:65
matrix::Matrix odeRto3x3RotationMatrixT(const double R[12])
converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
Definition: mathutils.cpp:85
Position multMatrixPosition(const Matrix &r, Position &p)
Multiplies 3x3 matrix with position.
Definition: mathutils.cpp:118
Matrixd Matrix
Definition: osgforwarddecl.h:47
double getAngle(const osg::Vec3 &a, const osg::Vec3 &b)
returns the angle between two vectors (in rad)
Definition: mathutils.cpp:79
Definition: position.h:30
T normalize360(T v)
Definition: mathutils.h:45
Vec3f Vec3
Definition: osgforwarddecl.h:42
osg::Matrix rotationMatrixFromAxisX(const Axis &axis)
returns a Rotation matrix that rotates the x-axis along with the given axis.
Definition: mathutils.cpp:63
Matrix osgMatrix2Matrixlib(const osg::Matrix &m)
converts osg matrix to matrix of matrixlib
Definition: mathutils.cpp:48
osg::Matrix osgRotate(const double &alpha, const double &beta, const double &gamma)
returns a rotation matrix (osg) with the given angles alpha, beta and gamma
Definition: mathutils.cpp:39
Matrix removeRotationInMatrix(const Matrix &pose)
removes the rotation in the matrix
Definition: mathutils.cpp:162
osg::Matrix rotationMatrixFromAxisZ(const Axis &axis)
returns a Rotation matrix that rotates the z-axis along with the given axis.
Definition: mathutils.cpp:71
const int T
integer constant for use with exp function and (^) operator to transpose the matrix ...
Definition: matrix.cpp:21
Matrix getTranslationMatrix(const Position &p)
returns a translation matrix with the given Position
Definition: mathutils.cpp:139
Matrix removeTranslationInMatrix(const Matrix &pose)
removes the translation in the matrix
Definition: mathutils.cpp:150
matrix::Matrix odeRto3x3RotationMatrix(const double R[12])
converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
Definition: mathutils.cpp:99