Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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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...