mathutils.cpp File Reference

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

Include dependency graph for mathutils.cpp:

Namespaces
	lpzrobots
	forward declarations

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