spatial.hpp File Reference

Object types for SE(3) representations. More...

Go to the source code of this file.

Classes
struct	amino::Vec3
	A vector of length 3. More...
struct	amino::XAngle
	A rotation about the X axis. More...
struct	amino::YAngle
	A rotation about the Y axis. More...
struct	amino::ZAngle
	A rotation about the Z axis. More...
struct	amino::Quat
	A quaternion object. More...
struct	amino::RotMat
	A rotation matrix object. More...
struct	amino::AxisAngle
	An axis-angle object. More...
struct	amino::DualQuat
	A dual quaternion object. More...
struct	amino::QuatTran
	A rotation quaternion and translation vector object. More...
struct	amino::TfMat
	A transformation matrix object. More...

Namespaces
	amino
	amino namespace

Functions
static struct aa_tf_vec3	amino::operator+ (const struct aa_tf_vec3 &a, const struct aa_tf_vec3 &b)
	Add two Vec3 objects.
static struct aa_tf_vec3	amino::operator/ (const struct aa_tf_vec3 &a, double b)
	Divide a Vec3 by a scalar.
static struct aa_tf_rotmat	amino::operator* (const struct aa_tf_rotmat &a, const struct aa_tf_rotmat &b)
	Multiply two rotation matrices.
static struct aa_tf_quat	amino::operator* (const struct aa_tf_quat &a, const struct aa_tf_quat &b)
	Multiply two ordinary quaternions.
static struct aa_tf_tfmat	amino::operator* (const struct aa_tf_tfmat &a, const struct aa_tf_tfmat &b)
	Multiply two transformation matrices.
static struct aa_tf_duqu	amino::operator* (const struct aa_tf_duqu &a, const struct aa_tf_duqu &b)
	Multiply two dual quaternions.
static struct aa_tf_qv	amino::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	amino::operator* (const struct aa_tf_rotmat &r, const struct aa_tf_vec3 &p)
	Rotate point by rotation matrix.

Detailed Description

Object types for SE(3) representations.

The class definitions in this file provide convenience methods to simplify type conversions between various orientation and transformation representations. The underlying operatations (and many others) are declared in tf.h.

See also

spatial.h for low level definitions of SE(3) operations.

Definition in file spatial.hpp.