mathutils.cpp File Reference

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

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Namespaces
namespace	lpzrobots
Functions
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)
Position	lpzrobots::multMatrixPosition (const Matrix &r, Position &p)
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 &pose)
Matrix	lpzrobots::removeRotationInMatrix (const Matrix &pose)
double	lpzrobots::getAngle (Position a, Position b)
	returns the angle between two vectors

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