BioloidControl: CMathLib Class Reference

List of all members.


Static Public Member Functions
static double	calcDotProduct (double firstVector[], double secondVector[], int size)
	Calculates dot product of two double vectors of the stated size.
static void	calcMatrixResult (double matrix[], double vector[], int rows, int columns, double resultVector[])
	Calculates vector-matrix product.
static void	getRotationFromMatrix (CMatrix &mat, CVec &axis, float &angle)
	Transforms homogenous matrix into axis-angle representation.
static void	transposeMatrix (double matrix, double resultMatrix, int size)
	Transposes a matrix.
static void	multiplyMatrices (double firstMatrix, double secondMatrix, int firstRows, int firstColumns, int secondColumns, double *resultMatrix)
	Multiplies two matrices.
static void	quaternionFromMatrix (CMatrix &mat, CVec &quaternion)
	Transforms a homogenous matrix into quaternion representation.
static void	matrixFromQuaternion (CVec &quaternion, CMatrix &matrix)
	Transforms a quaternion into homogenous matrix representation.
static void	getMatrixFromRotation (CMatrix &mat, CVec &axis, float angle)
	Transforms axis-angle representation into homogenous matrix representation.
static void	getOrientation (CMatrix &mat, CVec &first, CVec &second)
	Transforms homogenous matrix into Euler angle (YZX) representation (two solutions).
static void	getRotation (CMatrix &mat, CVec &vec)
	ransforms Euler angle (YZX) representation into homogenous matrix representation
static void	getRotation (CMatrix &mat, float x, float y, float z)
	Transforms Euler angle (YZX) representation into homogenous matrix representation.
static void	calcAngles (float leg1, float leg2, float x, float y, float &first, float &second)
	Calculates inverse kinematics of a standard two link leg.

Detailed Description

Member Function Documentation

double CMathLib::calcDotProduct	(	double	firstVector[],
		double	secondVector[],
		int	size
	)			`[static]`

Calculates dot product of two double vectors of the stated size.

void CMathLib::calcMatrixResult	(	double	matrix[],
		double	vector[],
		int	rows,
		int	columns,
		double	resultVector[]
	)			`[static]`

Calculates vector-matrix product.

Parameters:

resultVector

Has to be allocated

void CMathLib::getRotationFromMatrix	(	CMatrix &	mat,
		CVec &	axis,
		float &	angle
	)			`[static]`

Transforms homogenous matrix into axis-angle representation.

void CMathLib::transposeMatrix	(	double *	matrix,
		double *	resultMatrix,
		int	size
	)			`[static]`

Transposes a matrix.

Set resultMatrix to matrix if you want to transpose the matrix

Parameters:

resultMatrix

Has to be allocated

void CMathLib::multiplyMatrices	(	double *	firstMatrix,
		double *	secondMatrix,
		int	firstRows,
		int	firstColumns,
		int	secondColumns,
		double *	resultMatrix
	)			`[static]`

Multiplies two matrices.

Parameters:

resultMatrix

Has to be allocated

void CMathLib::quaternionFromMatrix	(	CMatrix &	mat,
		CVec &	quaternion
	)			`[static]`

Transforms a homogenous matrix into quaternion representation.

Parameters:

quaternion

XYZ is the rotation axis part, W the angle part

void CMathLib::matrixFromQuaternion	(	CVec &	quaternion,
		CMatrix &	matrix
	)			`[static]`

Transforms a quaternion into homogenous matrix representation.

void CMathLib::getMatrixFromRotation	(	CMatrix &	mat,
		CVec &	axis,
		float	angle
	)			`[static]`

Transforms axis-angle representation into homogenous matrix representation.

void CMathLib::getOrientation	(	CMatrix &	mat,
		CVec &	first,
		CVec &	second
	)			`[static]`

Transforms homogenous matrix into Euler angle (YZX) representation (two solutions).

void CMathLib::getRotation	(	CMatrix &	mat,
		CVec &	vec
	)			`[static]`

ransforms Euler angle (YZX) representation into homogenous matrix representation

See also:: getRotation

void CMathLib::getRotation	(	CMatrix &	mat,
		float	x,
		float	y,
		float	z
	)			`[static]`

Transforms Euler angle (YZX) representation into homogenous matrix representation.

void CMathLib::calcAngles	(	float	leg1,
		float	leg2,
		float	x,
		float	y,
		float &	first,
		float &	second
	)			`[static]`

Calculates inverse kinematics of a standard two link leg.

Parameters:

	leg1	Length of leg connected to base
	leg2	Length of leg connected to hand
	x	Cartesian x position of hand
	y	Cartesian y position of hand
	first	Angle between base and leg1
	second	Angle between leg1 and leg2 (elbow)

CMathLib Class Reference

Static Public Member Functions

Detailed Description

Member Function Documentation