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KrisLibrary
1.0.0
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Utility functions for converting between different rotation representations and computing derivatives. More...
#include <KrisLibrary/math/matrix.h>#include <KrisLibrary/math3d/primitives.h>#include <KrisLibrary/math3d/rotation.h>Go to the source code of this file.
Classes | |
| struct | DirectionCosines |
| 9-D rotation parameterization that lays out the columns of the rotation matrix in a single vector. More... | |
Functions | |
| bool | GetRotationCenter (const RigidTransform &T, Vector3 &p) |
| void | GetMinimalRotation (const Vector3 &x, const Vector3 &y, Matrix3 &R) |
| void | GetMinimalRotationToPlane (const Vector3 &x, const Vector3 &y, Matrix3 &R) |
| void | MatrixDerivative (const Matrix3 &R, const Vector3 &z, Matrix3 &dR) |
| Derivative dR of the rotation matrix R of a frame as it rotates about the axis z. More... | |
| void | DirectionCosinesDerivative (const Vector &R, const Vector3 &z, Vector &dR) |
| void | MomentDerivative (const Matrix3 &R, const Vector3 &z, Vector3 &dm) |
| void | MomentDerivative (const MomentRotation &m, const Vector3 &z, Vector3 &dm) |
| Same as above, but specifies R with the moment m. | |
| void | MomentDerivative (const Vector3 &m, const Matrix3 &R, const Vector3 &z, Vector3 &dm) |
| Same as above, but both m and R are provided. | |
| void | QuaternionDerivative (const Matrix3 &R, const Vector3 &z, Quaternion &dq) |
| bool | EulerAngleDerivative (const Vector3 &theta, const Vector3 &z, int u, int v, int w, Vector3 &dtheta) |
| Calculates the derivative of the euler angle representation of R as it rotates around the axis z. More... | |
| void | AngularVelocityEulerAngle (const Vector3 &theta, const Vector3 &dtheta, int u, int v, int w, Vector3 &z) |
| Calculates the angular velocity z of the rotation described by theta given its time derivatives dtheta. More... | |
| void | EulerAngleMoments (const Vector3 &theta, int u, int v, int w, Matrix3 &A) |
| Real | MatrixAbsoluteAngle (const Matrix3 &R) |
| Returns the absolute angle of the rotation R. More... | |
| Real | MatrixAngleAboutAxis (const Matrix3 &R, const Vector3 &a) |
| Returns the angle that R makes about the axis a. More... | |
| Real | MatrixAngleDerivative (const Matrix3 &R, const Vector3 &z) |
| Derivative dtheta/dz, the change in the absolute angle of rotation R as it rotates about the axis z. More... | |
| void | MatrixDerivative2 (const Matrix3 &R, const Vector3 &w, const Vector3 &a, Matrix3 &ddR) |
| Second derivative ddR of the rotation matrix R of a frame as it rotates with velocity w, acceleration a about the axis z. More... | |
| void | ForwardDifferenceAngularVelocity (const Matrix3 &R0, const Matrix3 &R1, Real h, Vector3 &z) |
| Computes the angular velocity z at time 0, given current rotation and rotation at next time step. More... | |
| void | CenteredDifferenceAngularVelocity (const Matrix3 &R_1, const Matrix3 &R0, const Matrix3 &R1, Real h, Vector3 &z) |
| Computes the angular velocity z at time 0, given current rotation, and rotations at previous/next time steps. More... | |
| void | CenteredDifferenceAngularAccel (const Matrix3 &R_1, const Matrix3 &R0, const Matrix3 &R1, Real h, Vector3 &a) |
| Computes the angular acceleration a at time 0, given current rotation, and rotations at previous/next time steps. More... | |
| Real | AxisRotationMagnitude (const Matrix3 &R, const Vector3 &a) |
| Computes the "amount" of rotation about the axis a that thegiven rotation matrix R performs. Specifically, finds the angle theta such that e^[theta*a] minimizes the angular distance to R. More... | |
| void | NormalizeRotation (Matrix3 &R) |
| For a not-quite rotation matrix R, replaces it with the closest rotation matrix. I.e., find an orthogonal matrix that minimizes the distance to R. | |
Utility functions for converting between different rotation representations and computing derivatives.
1.8.11