mathutils.h File Reference

#include <selforg/matrix.h>
#include <selforg/position.h>
#include "osgforwarddecl.h"
#include <osg/Math>

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Namespaces
namespace	lpzrobots
Functions
template<typename T>
T	lpzrobots::normalize360 (T v)
osg::Matrix	lpzrobots::osgRotate (const double &alpha, const double &beta, const double &gamma)
	returns a rotation matrix (osg) with the given angles alpha, beta and gamma
Matrix	lpzrobots::osgMatrix2Matrixlib (const osg::Matrix &m)
	converts osg matrix to matrix of matrixlib
osg::Matrix	lpzrobots::rotationMatrixFromAxisX (const Axis &axis)
	returns a Rotation matrix that rotates the x-axis along with the given axis.
osg::Matrix	lpzrobots::rotationMatrixFromAxisZ (const Axis &axis)
	returns a Rotation matrix that rotates the z-axis along with the given axis.
double	lpzrobots::getAngle (const osg::Vec3 &a, const osg::Vec3 &b)
	returns the angle between two vectors (in rad)
matrix::Matrix	lpzrobots::odeRto3x3RotationMatrixT (const double R[12])
	converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
matrix::Matrix	lpzrobots::odeRto3x3RotationMatrix (const double R[12])
	converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
Position	lpzrobots::multMatrixPosition (const matrix::Matrix &r, Position &p)
	Multiplies 3x3 matrix with position.
Matrix	lpzrobots::getRotationMatrix (const double &angle)
	returns a rotation matrix with the given angle
Matrix	lpzrobots::getTranslationMatrix (const Position &p)
	returns a translation matrix with the given Position
Matrix	lpzrobots::removeTranslationInMatrix (const matrix::Matrix &pose)
	removes the translation in the matrix
Matrix	lpzrobots::removeRotationInMatrix (const matrix::Matrix &pose)
	removes the rotation in the matrix
double	lpzrobots::getAngle (Position a, Position b)
	returns the angle between two vectors

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