mathutils.cpp File Reference

#include <math.h>
#include <osg/Matrix>
#include "mathutils.h"
#include "axis.h"

Include dependency graph for mathutils.cpp:

Namespaces
namespace	lpzrobots
Functions
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
Matrix	osgMatrix2Matrixlib (const osg::Matrix &m)
	converts osg matrix to matrix of matrixlib
osg::Matrix	rotationMatrixFromAxisX (const Axis &axis)
	returns a Rotation matrix that rotates the x-axis along with the given axis.
osg::Matrix	rotationMatrixFromAxisZ (const Axis &axis)
	returns a Rotation matrix that rotates the z-axis along with the given axis.
double	getAngle (const osg::Vec3 &a, const osg::Vec3 &b)
	returns the angle between two vectors (in rad)
matrix::Matrix	odeRto3x3RotationMatrixT (const double R[12])
	converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
matrix::Matrix	odeRto3x3RotationMatrix (const double R[12])
	converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
Position	multMatrixPosition (const Matrix &r, Position &p)
	Multiplies 3x3 matrix with position.
Matrix	getRotationMatrix (const double &angle)
	returns a rotation matrix with the given angle
Matrix	getTranslationMatrix (const Position &p)
	returns a translation matrix with the given Position
Matrix	removeTranslationInMatrix (const Matrix &pose)
	removes the translation in the matrix
Matrix	removeRotationInMatrix (const Matrix &pose)
	removes the rotation in the matrix
double	getAngle (Position a, Position b)
	returns the angle between two vectors

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Function Documentation

double getAngle (  Position  a, Position  b )

returns the angle between two vectors

double getAngle (  const osg::Vec3 &  a, const osg::Vec3 &  b )

returns the angle between two vectors (in rad)

matrix::Matrix getRotationMatrix (  const double &  angle  )

returns a rotation matrix with the given angle

matrix::Matrix getTranslationMatrix (  const Position &  p  )

returns a translation matrix with the given Position

Position multMatrixPosition (  const matrix::Matrix &  r, Position &  p )

Multiplies 3x3 matrix with position.

matrix::Matrix odeRto3x3RotationMatrix (  const double  R[12]  )

converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib) Examples: sphererobot3masses.cpp.

matrix::Matrix odeRto3x3RotationMatrixT (  const double  R[12]  )

converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)

matrix::Matrix osgMatrix2Matrixlib (  const osg::Matrix &  m  )

converts osg matrix to matrix of matrixlib

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

Matrix removeRotationInMatrix (  const matrix::Matrix &  pose  )

removes the rotation in the matrix

Matrix removeTranslationInMatrix (  const matrix::Matrix &  pose  )

removes the translation in the matrix

osg::Matrix rotationMatrixFromAxisX (  const Axis &  axis  )

returns a Rotation matrix that rotates the x-axis along with the given axis. The other 2 axis (y,z) are ambiguous.

osg::Matrix rotationMatrixFromAxisZ (  const Axis &  axis  )

returns a Rotation matrix that rotates the z-axis along with the given axis. The other 2 axis (x,y) are ambiguous.

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