amino Namespace Reference

amino namespace More...

Classes
class	ScopedMutex
	Locks mutex on construction, unlocks on destruction. More...
class	RegionScope
class	RegionAllocator
	An STL allocator that allocates out of a memory region. More...
struct	RegionList
	Typedefs for STL lists using region allocator. More...
struct	RegionVector
	Typedefs for STL vector using region allocator. More...
struct	RegionMap
	Typedefs for STL map using region allocator. More...
struct	BaseCmplx
	Base type for complex numbers and 2D vectors. More...
struct	Vec2
	A 2D vector represented using a complex number. More...
struct	AngleP
	A planar rotation angle. More...
struct	Cmplx
	A complex number. More...
struct	RotMatP
	A planar rotation matrix. More...
struct	CmplxTran
	Planar transformation represented with a complex number and translation vector. More...
struct	TfMatP
	A Planar transformation matrix. More...
struct	Vec3
	A vector of length 3. More...
struct	XAngle
	A rotation about the X axis. More...
struct	YAngle
	A rotation about the Y axis. More...
struct	ZAngle
	A rotation about the Z axis. More...
struct	Quat
	A quaternion object. More...
struct	RotMat
	A rotation matrix object. More...
struct	AxisAngle
	An axis-angle object. More...
struct	DualQuat
	A dual quaternion object. More...
struct	QuatTran
	A rotation quaternion and translation vector object. More...
struct	TfMat
	A transformation matrix object. More...

Functions
template<typename T >
T	next (T p)
template<typename T >
T	prev (T p)
template<typename T >
void	conv (const aa_tf_quat *src, ::Eigen::Quaternion< T > *dst)
	Convert an amino quaternion to an Eigen quaternion.
template<typename T >
void	conv (const aa_tf_vec3 *src, ::Eigen::Translation< T, 3 > *dst)
	Convert an amino vector to an Eigen translation.
template<typename T >
void	conv (const aa_tf_vec3 *src, ::Eigen::Matrix< T, 3, 1 > *dst)
	Convert an amino vector to an Eigen column vector.
template<typename T >
void	conv (const aa_tf_rotmat *src, ::Eigen::Matrix< T, 3, 3 > *dst)
	Convert an amino rotation matrix to an Eigen matrix.
template<typename T >
void	conv (const aa_tf_tfmat *src, ::Eigen::Transform< T, 3, ::Eigen::Isometry > *dst)
	Convert an amino transformation matrix to an Eigen Isometry.
template<typename T >
void	conv (const aa_tf_tfmat *src, ::Eigen::Transform< T, 3, ::Eigen::Affine > *dst)
	Convert an amino transformation matrix to an Eigen Affine.
template<typename T >
void	conv (const aa_tf_qv *src, ::Eigen::Transform< T, 3, ::Eigen::Affine > *dst)
	Convert an amino quaternion-translation to an Eigen Affine.
template<typename T >
void	conv (const aa_tf_qv *src, ::Eigen::Transform< T, 3, ::Eigen::Isometry > *dst)
	Convert an amino quaternion-translation to an Eigen Isometry.
static aa_tf_vec2	operator* (const Cmplx &c, const Vec2 &v)
	Rotate a 2D vector using a complex number.
static aa_tf_vec2	operator* (const aa_tf_rotmatp &R, const Vec2 &v)
	Rotate a 2D vector using a rotation matrix.
static aa_tf_rotmatp	operator* (const aa_tf_rotmatp &R1, const aa_tf_rotmatp &R2)
	Multiply (chain) two rotation matrices.
static aa_tf_vec2	operator* (const aa_tf_tfmatp &T, const aa_tf_vec2 &p)
	Transform a 2D vector using a transformation matrix.
static aa_tf_vec2	operator* (const aa_tf_cv &E, const aa_tf_vec2 &p)
	Transform a 2D vector using a complex number and translation vector.
static aa_tf_tfmatp	operator* (const aa_tf_tfmatp &T1, const aa_tf_tfmatp &T2)
	Multiply (chain) two transformation matrices.
static aa_tf_cv	operator* (const aa_tf_cv &E1, const aa_tf_cv &E2)
	Chain two complex-numbers and translation vectors.
static struct aa_tf_vec3	operator+ (const struct aa_tf_vec3 &a, const struct aa_tf_vec3 &b)
	Add two Vec3 objects.
static struct aa_tf_vec3	operator/ (const struct aa_tf_vec3 &a, double b)
	Divide a Vec3 by a scalar.
static struct aa_tf_rotmat	operator* (const struct aa_tf_rotmat &a, const struct aa_tf_rotmat &b)
	Multiply two rotation matrices.
static struct aa_tf_quat	operator* (const struct aa_tf_quat &a, const struct aa_tf_quat &b)
	Multiply two ordinary quaternions.
static struct aa_tf_tfmat	operator* (const struct aa_tf_tfmat &a, const struct aa_tf_tfmat &b)
	Multiply two transformation matrices.
static struct aa_tf_duqu	operator* (const struct aa_tf_duqu &a, const struct aa_tf_duqu &b)
	Multiply two dual quaternions.
static struct aa_tf_qv	operator* (const struct aa_tf_qv &a, const struct aa_tf_qv &b)
	Chain two poses stored in quaternion-vector form. More...
static struct aa_tf_vec3	operator* (const struct aa_tf_rotmat &r, const struct aa_tf_vec3 &p)
	Rotate point by rotation matrix.

Detailed Description

amino namespace

Function Documentation

operator*()

static struct aa_tf_qv amino::operator* ( const struct aa_tf_qv &  a, const struct aa_tf_qv &  b  )

inlinestatic

Chain two poses stored in quaternion-vector form.

It is a slight abuse of notation to use the \(*\) symbol for this chaining as chaining quaternion-vector poses is not linear.

Definition at line 1 of file spatial.hpp.