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static void | Rodrigues (const vectorN &inAxisVector, double inRotationAngle, matrixNxP &outRot) |
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static void | RottoOmega (const matrixNxP &inRot, vectorN &outVec) |
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static void | RottoEulerZYX (const matrixNxP &inRot, vectorN &outEuler) |
| Get euler angles stored thetaX, thetaY, thetaZ inside outEuler. More...
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static void | M3toEulerZYX (matrix3d &inRot, vector3d &outEuler) |
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static void | OmegatoEulerZYX (const vectorN &inOmega, vectorN &outEuler) |
| Same as RottoEulerZYX but from instantaneous rotation vector inOmega. More...
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static bool | OmegaToR (const vectorN &inOmega, matrixNxP &outR) |
| Converts an angular velocity vector to a rotation. More...
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static void | EulerZYXtoRot (const vectorN &inEuler, matrixNxP &outRot) |
| Inverse of RottoEulerZYX. More...
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static void | EulerZYXtoRot (double inThetaX, double inThetaY, double inThetaZ, matrixNxP &outRot) |
| Inverse of RottoEulerZYX. More...
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static bool | Rodrigues4d (const vectorN &inVec, matrix4d &outH) |
| Integrate a rigid body velocity. More...
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static void | invertTransformation (const matrixNxP &inH, matrixNxP &outH) |
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static void | flyerTransformation (const vectorN &inDof, matrixNxP &outH) |
| compute homogeneous matrix from configuration vector of freeflyer More...
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static void | HtoT (const matrix4d &inH, vectorN &outT) |
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static void | splitM4 (const matrix4d &inM, matrix3d &outR, vector3d &outV) |
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static void | HtoRT (const matrix4d &inH, matrixNxP &outRot, vectorN &outT) |
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static void | equivAsymMat (const vectorN &inVec, matrixNxP &outH) |
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static void | CrossProduct (const vectorN &v1, const vectorN &v2, vectorN &ret) |
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static double | eps () |
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static void | Vector3toUblas (const vector3d &v, vectorN &uv) |
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static void | UblastoVector3 (const vectorN &uv, vector3d &v) |
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static void | Matrix3toUblas (const matrix3d &m, matrixNxP &um) |
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static void | UblastoMatrix3 (const matrixNxP &um, matrix3d &m) |
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static void | Matrix4toUblas (const matrix4d &m, matrixNxP &um) |
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static void | UblastoMatrix4 (const matrixNxP &um, matrix4d &m) |
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static void | printBlasMat (const matrixNxP &M) |
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static void | RotFromYaw (double inYaw, matrixNxP &outM) |
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static void | m4dFromXyzt (double inX, double inY, double inZ, double inTh, matrix4d &outMat) |
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static bool | minJerkCurve (double inMotionDuration, double inSamplingPeriod, double xi, double vi, double ai, double xf, vectorN &outPosition, vectorN *outVelocity=0, vectorN *outAcceleration=0) |
| Produce a trajectory interpolating xi and xf given the intial first and second derivatives of x (vi and ai). More...
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static unsigned int | timetoRank (double startTime, double inTime, double inSamplingPeriod) |
| return n = round((inTime-startTime)/inSamplingPeriod) More...
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static void | targetTransformationU (const matrixNxP &referenceBase, const matrixNxP &referenceTarget, const matrixNxP &nowBase, matrixNxP &outNowTarget) |
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static void | targetTransformationM (const matrix4d &referenceBase, const matrix4d &referenceTarget, const matrix4d &nowBase, matrix4d &outNowTarget) |
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static double | inner_prod_3points (double originX, double originY, double point1X, double point1Y, double point2X, double point2Y) |
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static bool | sinFilter (vectorN &inSignal, double inSamplingPeriod, vectorN &outSignal) |
| matrix has samples in concatenated columns More...
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static void | filterWindow (double T, double dt, vectorN &outFilter) |
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static bool | multiFilter (double inSamplingPeriod, matrixNxP &inSignal, matrixNxP &outSignal) |
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static bool | linearInterpolation (double D, double inSamplingPeriod, double xi, double xf, vectorN &outTrajectory) |
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static bool | multiLinearInterpolation (double D, double inSamplingPeriod, vectorN &xi, vectorN &xf, matrixNxP &outTrajectory) |
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static void | prolongateSizeBased (unsigned int size1, unsigned int size2, const matrixNxP &inData, matrixNxP &outData) |
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static void | prolongateTimeBased (double timePre, double timePost, double samplingPeriod, const matrixNxP &inData, matrixNxP &outData) |
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static bool | overlapConcat (matrixNxP &data, const matrixNxP &addedData, unsigned int overlap) |
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static bool | combineMasks (const vectorN &inMask1, const vectorN &inMask2, vectorN &outMask) |
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