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amino
1.0-beta2
Lightweight Robot Utility Library
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amino
1.0-beta2
Lightweight Robot Utility Library
|
Types for transforms. More...
Go to the source code of this file.
Classes | |
| struct | aa_tf_rotmatp |
| Memory layout for a planar rotation matrix. More... | |
| struct | aa_tf_cv |
| Memory layout for planar transform as complex number and translation vector. More... | |
| struct | aa_tf_tfmatp |
| Memory layout for a planar transformation matrix. More... | |
| struct | aa_tf_vec3 |
| Memory layout for a vector of length 3. More... | |
| struct | aa_tf_rotmat |
| Memory layout for a rotation matrix. More... | |
| struct | aa_tf_axang |
| Memory layout for axis-Angle rotation in x,y,z,angle order. More... | |
| struct | aa_tf_quat |
| Memory layout for a quaternion, x,y,z,w order. More... | |
| struct | aa_tf_eulerzyx |
| Memory layout for an Euler Angle in ZYX (yaw-pitch-roll) format. More... | |
| struct | aa_tf_tfmat |
| Memory layout for a transformation matrix. More... | |
| struct | aa_tf_qv |
| Memory layout for a Transformation as rotation quaternion and translation vector. More... | |
| struct | aa_tf_duqu |
| Memory layout for a dual quaternion. More... | |
| struct | aa_tf_dx |
| Memory layout for an SE(3) velocity. More... | |
| struct | aa_tf_qv_dx |
| Transform and spatial velocity. More... | |
Macros | |
| #define | AA_TF_X 0 |
| Index of vector x element. | |
| #define | AA_TF_Y 1 |
| Index of vector y element. | |
| #define | AA_TF_Z 2 |
| Index of vector z element. | |
| #define | AA_TF_QUAT_V 0 |
| Index of quaternion vector part. | |
| #define | AA_TF_QUAT_XYZ AA_TF_QUAT_V |
| Index of quaternion vector part. | |
| #define | AA_TF_QUAT_X (AA_TF_QUAT_V + AA_TF_X) |
| Index of quaternion vector x. | |
| #define | AA_TF_QUAT_Y (AA_TF_QUAT_V + AA_TF_Y) |
| Index of quaternion vector y. | |
| #define | AA_TF_QUAT_Z (AA_TF_QUAT_V + AA_TF_Z) |
| Index of quaternion vector z. | |
| #define | AA_TF_QUAT_W 3 |
| Index of quaternion scalar part. | |
| #define | AA_TF_TFMAT_R 0 |
| Index of rotation matrix part of transformation matrix. | |
| #define | AA_TF_TFMAT_V 9 |
| Index of origin part of transformation matrix. | |
| #define | AA_TF_TFMAT_X 9 |
| Index of origin x component of transformation matrix. | |
| #define | AA_TF_TFMAT_Y 10 |
| Index of origin y component of transformation matrix. | |
| #define | AA_TF_TFMAT_Z 11 |
| Index of origin z component of transformation matrix. | |
| #define | AA_TF_DX_V 0 |
| Index of spatial velocity translational part. | |
| #define | AA_TF_DX_W 3 |
| Index of spatial velocity rotational part. | |
| #define | AA_TF_QUTR_Q 0 |
| Index of quaternion-translation quaternion part. | |
| #define | AA_TF_QUTR_QX (AA_TF_QUTR_Q + AA_TF_QUAT_X) |
| Index of quaternion-translation quaternion x. | |
| #define | AA_TF_QUTR_QY (AA_TF_QUTR_Q + AA_TF_QUAT_Y) |
| Index of quaternion-translation quaternion y. | |
| #define | AA_TF_QUTR_QZ (AA_TF_QUTR_Q + AA_TF_QUAT_Z) |
| Index of quaternion-translation quaternion z. | |
| #define | AA_TF_QUTR_QW (AA_TF_QUTR_Q + AA_TF_QUAT_W) |
| Index of quaternion-translation quaternion w. | |
| #define | AA_TF_QUTR_T 4 |
| Index of quaternion-translation translation part. | |
| #define | AA_TF_QUTR_TX (AA_TF_QUTR_T + AA_TF_X) |
| Index of quaternion-translation translation x. | |
| #define | AA_TF_QUTR_TY (AA_TF_QUTR_T + AA_TF_Y) |
| Index of quaternion-translation translation y. | |
| #define | AA_TF_QUTR_TZ (AA_TF_QUTR_T + AA_TF_Z) |
| Index of quaternion-translation translation z. | |
| #define | AA_TF_DUQU_REAL 0 |
| index of dual quaternion real part | |
| #define | AA_TF_DUQU_DUAL 4 |
| index of dual quaternion dual part | |
| #define | AA_TF_DUQU_REAL_W (AA_TF_DUQU_REAL + AA_TF_QUAT_W) |
| index of dual quaternion real w | |
| #define | AA_TF_DUQU_REAL_XYZ (AA_TF_DUQU_REAL + AA_TF_QUAT_XYZ) |
| index of dual quaternion real xyz | |
| #define | AA_TF_DUQU_REAL_X (AA_TF_DUQU_REAL + AA_TF_QUAT_X) |
| index of dual quaternion real x | |
| #define | AA_TF_DUQU_REAL_Y (AA_TF_DUQU_REAL + AA_TF_QUAT_Y) |
| index of dual quaternion real y | |
| #define | AA_TF_DUQU_REAL_Z (AA_TF_DUQU_REAL + AA_TF_QUAT_Z) |
| index of dual quaternion real z | |
| #define | AA_TF_DUQU_DUAL_W (AA_TF_DUQU_DUAL + AA_TF_QUAT_W) |
| index of dual quaternion dual w | |
| #define | AA_TF_DUQU_DUAL_XYZ (AA_TF_DUQU_DUAL + AA_TF_QUAT_XYZ) |
| index of dual quaternion dual xyz | |
| #define | AA_TF_DUQU_DUAL_X (AA_TF_DUQU_DUAL + AA_TF_QUAT_X) |
| index of dual quaternion dual x | |
| #define | AA_TF_DUQU_DUAL_Y (AA_TF_DUQU_DUAL + AA_TF_QUAT_Y) |
| index of dual quaternion dual y | |
| #define | AA_TF_DUQU_DUAL_Z (AA_TF_DUQU_DUAL + AA_TF_QUAT_Z) |
| index of dual quaternion dual z | |
Typedefs | |
| typedef double _Complex | aa_tf_cmplx |
| Typedef for C99 complex numbers. | |
| typedef aa_tf_cmplx | aa_tf_vec2 |
| Represent 2D vectors as complex numbers. | |
| typedef struct aa_tf_rotmatp | aa_tf_rotmatp |
| Memory layout for a planar rotation matrix. More... | |
| typedef struct aa_tf_cv | aa_tf_cv |
| Memory layout for planar transform as complex number and translation vector. | |
| typedef struct aa_tf_tfmatp | aa_tf_tfmatp |
| Memory layout for a planar transformation matrix. More... | |
| typedef struct aa_tf_vec3 | aa_tf_vec3_t |
| Memory layout for a vector of length 3. | |
| typedef struct aa_tf_rotmat | aa_tf_rotmat_t |
| Memory layout for a rotation matrix. More... | |
| typedef struct aa_tf_axang | aa_tf_axang_t |
| Memory layout for axis-Angle rotation in x,y,z,angle order. More... | |
| typedef struct aa_tf_quat | aa_tf_quat_t |
| Memory layout for a quaternion, x,y,z,w order. More... | |
| typedef struct aa_tf_eulerzyx | aa_tf_eulerzyx_t |
| Memory layout for an Euler Angle in ZYX (yaw-pitch-roll) format. | |
| typedef struct aa_tf_tfmat | aa_tf_tfmat_t |
| Memory layout for a transformation matrix. More... | |
| typedef struct aa_tf_qv | aa_tf_qv_t |
| Memory layout for a Transformation as rotation quaternion and translation vector. | |
| typedef struct aa_tf_duqu | aa_tf_duqu_t |
| Memory layout for a dual quaternion. | |
Types for transforms.
All types passed by reference are contiguous sequences of double floats and may safely be passed with a double* pointer to the first element. The structs in this file specify the memory layouts.
Complex numbers and 2D vectors are represented with C99 complex numbers and are passed and returned by value.
Definition in file type.h.
| typedef struct aa_tf_axang aa_tf_axang_t |
Memory layout for axis-Angle rotation in x,y,z,angle order.
The first three elements are the axis x,y,z coordinates. The final element is the angle.
| typedef struct aa_tf_quat aa_tf_quat_t |
Memory layout for a quaternion, x,y,z,w order.
The first three elements are the vector (x,y,z). The last element is the scalar (w).
| typedef struct aa_tf_rotmat aa_tf_rotmat_t |
Memory layout for a rotation matrix.
column major
The matrix is in column-major order.
| typedef struct aa_tf_rotmatp aa_tf_rotmatp |
Memory layout for a planar rotation matrix.
Column major order.
| typedef struct aa_tf_tfmat aa_tf_tfmat_t |
Memory layout for a transformation matrix.
It is a column-major matrix, but the bottom row is omitted because this row is the same for all SE(3) transformation matrices.
The first 9 elements are a column major rotation matrix. The last 3 elements are the origin vector.
| typedef struct aa_tf_tfmatp aa_tf_tfmatp |
Memory layout for a planar transformation matrix.
It is a column-major matrix, but the bottom row is omitted because this row is the same for all SE(2) transformation matrices.
The first 4 elements are a column major rotation matrix. The last 2 elements are the origin vector.