Transform.h File Reference

#include <Eigen/Geometry>
#include "Matrix.h"
#include "Quaternion.h"

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Namespaces
	rl
	rl::math
	rl::math::transform

Macros
#define	EIGEN_MATRIXBASE_PLUGIN   <rl/math/MatrixBaseAddons.h>
#define	EIGEN_QUATERNIONBASE_PLUGIN   <rl/math/QuaternionBaseAddons.h>

Typedefs
typedef ::Eigen::Transform< Real, 3, ::Eigen::Affine >	rl::math::Transform
typedef ::Eigen::Translation< Real, 3 >	rl::math::Translation

Functions
template<typename Matrix1 , typename Matrix2 , typename Real >
Real	rl::math::transform::distance (const Matrix1 &t1, const Matrix2 &t2, const Real &weight=1.0)
template<typename Matrix1 , typename Real , typename Matrix2 >
void	rl::math::transform::fromDelta (const Matrix1 &t1, const Real &x, const Real &y, const Real &z, const Real &a, const Real &b, const Real &c, Matrix2 &t2)
template<typename Matrix1 , typename Vector , typename Matrix2 >
void	rl::math::transform::fromDelta (const Matrix1 &t1, const Vector &xyzabc, Matrix2 &t2)
template<typename Matrix , typename Real >
void	rl::math::transform::getDelta (const Matrix &t, Real &x, Real &y, Real &z, Real &a, Real &b, Real &c)
template<typename Matrix , typename Vector >
void	rl::math::transform::getDelta (const Matrix &t, Vector &xyzabc)
template<typename Matrix , typename Real >
void	rl::math::transform::getDenavitHartenberg (const Matrix &t, Real &d, Real &theta, Real &a, Real &alpha)
template<typename Real , typename Matrix >
void	rl::math::transform::setDelta (const Real &x, const Real &y, const Real &z, const Real &a, const Real &b, const Real &c, Matrix &t)
template<typename Vector , typename Matrix >
void	rl::math::transform::setDelta (const Vector &xyzabc, Matrix &t)
template<typename Real , typename Matrix >
void	rl::math::transform::setDenavitHartenberg (const Real &d, const Real &theta, const Real &a, const Real &alpha, Matrix &t)
template<typename Matrix1 , typename Matrix2 , typename Real >
void	rl::math::transform::toDelta (const Matrix1 &t1, const Matrix2 &t2, Real &x, Real &y, Real &z, Real &a, Real &b, Real &c)
template<typename Matrix1 , typename Matrix2 , typename Vector >
void	rl::math::transform::toDelta (const Matrix1 &t1, const Matrix2 &t2, Vector &xyzabc)

Macro Definition Documentation

EIGEN_MATRIXBASE_PLUGIN

#define EIGEN_MATRIXBASE_PLUGIN   <rl/math/MatrixBaseAddons.h>

EIGEN_QUATERNIONBASE_PLUGIN

#define EIGEN_QUATERNIONBASE_PLUGIN   <rl/math/QuaternionBaseAddons.h>