rdl_eigenmath.hpp File Reference

#include <Eigen/Dense>
#include <Eigen/StdVector>
#include <Eigen/QR>
#include <eigen3/Eigen/Eigen>

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Classes
class	RobotDynamics::Math::TransformableGeometricObject
	The TransformableGeometricObject class is an essential interface because it forces all geometric objects to implement a method that tells how to transform them. This makes in possible for frame transformations of any TransformableGeometricObject can be done via the FrameObject::changeFrame method. More...
class	RobotDynamics::Math::Vector3d
class	RobotDynamics::Math::Matrix3d
class	RobotDynamics::Math::Vector4d
class	RobotDynamics::Math::SpatialVector
class	RobotDynamics::Math::Matrix4d
class	RobotDynamics::Math::SpatialMatrix
struct	RobotDynamics::Math::SpatialTransform
	Compact representation of spatial transformations. More...
class	RobotDynamics::Math::Quaternion
	Quaternion that are used for singularity free joints. More...

Namespaces
	RobotDynamics
	Namespace for all structures of the RobotDynamics library.
	RobotDynamics::Math
	Math types such as vectors and matrices and utility functions.

Typedefs
typedef Eigen::Matrix< double, 6, 3 >	RobotDynamics::Math::Matrix63
typedef Eigen::VectorXd	RobotDynamics::Math::VectorNd
typedef Eigen::MatrixXd	RobotDynamics::Math::MatrixNd
typedef Eigen::AngleAxisd	RobotDynamics::Math::AxisAngle

Functions
static Quaternion	RobotDynamics::Math::intrinsicZYXAnglesToQuaternion (double yaw, double pitch, double roll)
	Convert YPR angles to quaternion. More...
static Quaternion	RobotDynamics::Math::intrinsicZYXAnglesToQuaternion (const Vector3d &zyx_angles)
	Convert YPR angles to quaternion. More...
static Quaternion	RobotDynamics::Math::intrinsicYXZAnglesToQuaternion (double pitch, double roll, double yaw)
	Convert PRY angles to quaternion. More...
static Quaternion	RobotDynamics::Math::intrinsicYXZAnglesToQuaternion (const Vector3d &yxz_angles)
	Convert PRY angles to quaternion. More...
static Quaternion	RobotDynamics::Math::intrinsicXYZAnglesToQuaternion (double roll, double pitch, double yaw)
	Convert RPY angles to quaternion. More...
static Quaternion	RobotDynamics::Math::intrinsicXYZAnglesToQuaternion (const Vector3d &xyz_angles)
	Convert RPY angles to quaternion. More...
static Matrix3d	RobotDynamics::Math::toTildeForm (const double x, const double y, const double z)
std::ostream &	RobotDynamics::Math::operator<< (std::ostream &output, const SpatialTransform &X)
SpatialTransform	RobotDynamics::Math::Xrot (double angle_rad, const Vector3d &axis)
	Get spatial transform from angle and axis. More...
SpatialTransform	RobotDynamics::Math::Xrotx (const double &xrot)
	Get transform with zero translation and pure rotation about x axis. More...
SpatialTransform	RobotDynamics::Math::Xroty (const double &yrot)
	Get transform with zero translation and pure rotation about y axis. More...
SpatialTransform	RobotDynamics::Math::Xrotz (const double &zrot)
	Get transform with zero translation and pure rotation about z axis. More...
SpatialTransform	RobotDynamics::Math::XeulerZYX (double yaw, double pitch, double roll)
	Get transform with zero translation and intrinsic euler z/y/x rotation. More...
SpatialTransform	RobotDynamics::Math::XeulerZYX (const Vector3d &ypr)
	Get transform defined by intrinsic YPR(yaw->pitch->roll) euler angles. More...
SpatialTransform	RobotDynamics::Math::XeulerXYZ (double roll, double pitch, double yaw)
	Get transform with zero translation and intrinsic euler x/y/z rotation. More...
SpatialTransform	RobotDynamics::Math::XeulerXYZ (const Vector3d &xyz_angles)
	Get transform with zero translation and euler x/y/z rotation. More...
SpatialTransform	RobotDynamics::Math::XrotQuat (double x, double y, double z, double w)
SpatialTransform	RobotDynamics::Math::XrotQuat (const Quaternion &orientation)
SpatialTransform	RobotDynamics::Math::Xtrans (const Vector3d &r)
	Get pure translation transform. More...
SpatialTransform	RobotDynamics::Math::Xtrans (double x, double y, double z)