homogen.cpp File Reference

Homogen transformation functions. More...

#include "utils.h"

Go to the source code of this file.

Functions
ReturnMatrix	trans (const ColumnVector &a)
	Translation.
ReturnMatrix	rotx (const Real alpha)
	Rotation around x axis.
ReturnMatrix	roty (const Real beta)
	Rotation around x axis.
ReturnMatrix	rotz (const Real gamma)
	Rotation around z axis.
ReturnMatrix	rotk (const Real theta, const ColumnVector &k)
	Rotation around arbitrary axis.
ReturnMatrix	rpy (const ColumnVector &a)
	Roll Pitch Yaw rotation.
ReturnMatrix	eulzxz (const ColumnVector &a)
	Euler ZXZ rotation.
ReturnMatrix	rotd (const Real theta, const ColumnVector &k1, const ColumnVector &k2)
	Rotation around an arbitrary line.
ReturnMatrix	irotk (const Matrix &R)
	Obtain axis from a rotation matrix.
ReturnMatrix	irpy (const Matrix &R)
	Obtain Roll, Pitch and Yaw from a rotation matrix.
ReturnMatrix	ieulzxz (const Matrix &R)
	Obtain Roll, Pitch and Yaw from a rotation matrix.

Detailed Description

Homogen transformation functions.

Definition in file homogen.cpp.