 Robotics Library  0.7.0

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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

## ◆ 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 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