TransformAddons.h File Reference

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Functions
template<typename Scalar , int Dim, int Mode, int Options>
Scalar	distance (const Transform< Scalar, Dim, Mode, Options > &other, const Scalar &weight=1) const
template<typename Scalar , int Dim, int Mode, int Options>
void	fromDelta (const Transform< Scalar, Dim, Mode, Options > &other, const Matrix< Scalar, 6, 1 > &delta, const bool &useApproximation=false)
	Calculate transformation from a linear and angular velocity vector. More...
void	fromDenavitHartenbergPaul (const Scalar &d, const Scalar &theta, const Scalar &a, const Scalar &alpha)
template<typename Scalar >
void	getDelta () const
template<typename Scalar >
void	setDelta (const Matrix< Scalar, 6, 1 > &delta)
template<typename Scalar , int Dim, int Mode, int Options>
Matrix< Scalar, 6, 1 >	toDelta (const Transform< Scalar, Dim, Mode, Options > &other, const bool &useApproximation=false) const
	Calculate the linear and angular velocity vector between two transformations. More...
void	toDenavitHartenbergPaul (Scalar &d, Scalar &theta, Scalar &a, Scalar &alpha) const

Function Documentation

distance()

template<typename Scalar , int Dim, int Mode, int Options>

Scalar distance ( const Transform< Scalar, Dim, Mode, Options > &  other, const Scalar &  weight = 1  ) const

inline

fromDelta()

template<typename Scalar , int Dim, int Mode, int Options>

void fromDelta ( const Transform< Scalar, Dim, Mode, Options > &  other, const Matrix< Scalar, 6, 1 > &  delta, const bool &  useApproximation = false  )

inline

Calculate transformation from a linear and angular velocity vector.

Parameters

[in]

useApproximation

For rotations a, b, c smaller than a few degrees, you can use a faster bi-linear approximation. For rotations larger than 90 degrees, this approximation would be completely wrong.

fromDenavitHartenbergPaul()

void fromDenavitHartenbergPaul ( const Scalar &  d, const Scalar &  theta, const Scalar &  a, const Scalar &  alpha  )

inline

getDelta()

template<typename Scalar >

void getDelta ( ) const

inline

setDelta()

template<typename Scalar >

void setDelta ( const Matrix< Scalar, 6, 1 > &  delta )

inline

toDelta()

template<typename Scalar , int Dim, int Mode, int Options>

Matrix<Scalar, 6, 1> toDelta ( const Transform< Scalar, Dim, Mode, Options > &  other, const bool &  useApproximation = false  ) const

inline

Calculate the linear and angular velocity vector between two transformations.

Parameters

[in]

useApproximation

For rotations from t1 to t2 smaller than a few degrees, you can use a faster bi-linear approximation. (For a rotation angle < 1e-3, the approximated angular velocity vector will be accurate up to 1e-9.) For rotations larger than 90 degrees, this approximation would be completely wrong.

toDenavitHartenbergPaul()

void toDenavitHartenbergPaul ( Scalar &  d, Scalar &  theta, Scalar &  a, Scalar &  alpha  ) const

inline