Module static_math::transformations [−][src]
Enums
| EulerSeq | Euler sequences conventions of rotations |
Functions
| adjoint | Compute the adjoint representation of a homogeneous transformation matrix |
| axis_angle | Convert a 3d vector of exponential coordinates for rotation into axis-angle form |
| axis_angle6 | Convert a 6D vector of exponential coordinates into screw axis angle |
| distance_to_manifold | Returns the Frobenius norm to describe the distance of the transformation from the SO(3) manifold |
| euler_to_rotation | Compute the rotation matrix from euler angles with the following conventions: XYX, XYZ, XZX, XZY, YXY, YXZ, YZX, YZY, ZXY, ZXZ |
| get_parts | Get the parts of a homogeneous transformation, the rotation(expresed by a Quaternion) and the translation (expresed by a vector) |
| get_parts_raw | Get the parts of a homogeneous transformation, the rotation(expresed by a Matrix) and the translation (expresed by a vector) |
| homogeneous_from_quaternion | Generate a homogeneous matrix from a rotation represented by a quaternion and a translation represented by a vector |
| homogeneous_from_rotation | Generate a homogeneous matrix from a rotation represented by a Matrix and a translation represented by a vector |
| homogeneous_inverse | Get the inverse of the homogeneous transformation |
| homogeneous_inverse_transform | Transform a vector with the inverse of a given homogeneous transformation |
| ksi | Create a pose in 2D from a angle(in radians) and a cartesian position (x, y) values |
| matrix_exponential | Compute the matrix exponential of a matrix in so(3) |
| matrix_exponential6 | Computes the matrix logarithm of a homogeneous transformation matrix |
| matrix_log | Brief. |
| matrix_log6 | Compute the matrix logarithm of a homogeneous transformation matrix |
| rot2 | Compute rotation matrix from a angle in radians |
| rotation_from_axis_angle | Compute the matrix exponential for omega theta(exponential coordinates): so(3) —> SO(3) with the Rodriguez formula |
| rotation_inverse | Inverse of a Rotation matrix, where R: SO(3) |
| rotation_to_euler | Get the euler angles from a rotation matrix comming from the convention ZYX |
| rotx | Compute the rotation around the |
| roty | Compute the rotation around the |
| rotz | Compute the rotation around the |
| screw_to_axis | Takes a parametric description of a screw axis and converts it to a normalized screw axis |
| se3_from_parts | |
| se3_get_parts | |
| se3_to_twist | Convert a se3 matrix representation to a spatial velocity vector known as “twist” |
| skew_from_vec | Convert a 3d Vector to a $so(3)$ representation |
| skew_from_vec_aug | Create augmented skew-symmetric matrix |
| skew_scalar | |
| skew_to_vec | Convert an so(3) representation to a 3d vector |
| skew_v6 | Create augmented skew-symmetric matrix |
| translation_2d | Create a pure translation homogeneous transformation |
| translation_3d | Create a pure translation homogeneous transformation in 3d |
| twist_to_se3 | Convert a spatial velocity vector to a M44 matrix in se3 space |
| vex_m22 |