Module static_math::transformations [−][src]
Enums
Euler sequences conventions of rotations
Functions
Compute the adjoint representation of a homogeneous transformation matrix
Convert a 3d vector of exponential coordinates for rotation into axis-angle form
Convert a 6D vector of exponential coordinates into screw axis angle
Returns the Frobenius norm to describe the distance of the transformation from the SO(3) manifold
Compute the rotation matrix from euler angles with the following conventions: XYX, XYZ, XZX, XZY, YXY, YXZ, YZX, YZY, ZXY, ZXZ
Get the parts of a homogeneous transformation, the rotation(expresed by a Quaternion) and the translation (expresed by a vector)
Get the parts of a homogeneous transformation, the rotation(expresed by a Matrix) and the translation (expresed by a vector)
Generate a homogeneous matrix from a rotation represented by a quaternion and a translation represented by a vector
Generate a homogeneous matrix from a rotation represented by a Matrix and a translation represented by a vector
Get the inverse of the homogeneous transformation
Transform a vector with the inverse of a given homogeneous transformation
Create a pose in 2D from a angle(in radians) and a cartesian position (x, y) values
Compute the matrix exponential of a matrix in so(3)
Computes the matrix logarithm of a homogeneous transformation matrix
Brief.
Compute the matrix logarithm of a homogeneous transformation matrix
Compute rotation matrix from a angle in radians
Compute the matrix exponential for omega theta(exponential coordinates): so(3) —> SO(3) with the Rodriguez formula
Inverse of a Rotation matrix, where R: SO(3)
Get the euler angles from a rotation matrix comming from the convention ZYX
Compute the rotation around the x axis(in cartesian coordinates)
Compute the rotation around the y axis(in cartesian coordinates)
Compute the rotation around the z axis(in cartesian coordinates)
Takes a parametric description of a screw axis and converts it to a normalized screw axis
Convert a se3 matrix representation to a spatial velocity vector known as “twist”
Convert a 3d Vector to a $so(3)$ representation
Create augmented skew-symmetric matrix
Convert an so(3) representation to a 3d vector
Create augmented skew-symmetric matrix
Create a pure translation homogeneous transformation
Create a pure translation homogeneous transformation in 3d
Convert a spatial velocity vector to a M44 matrix in se3 space