math

Math module. More...

Data Structures
struct	lmc_translation
	Cartesian translation coordinate. More...
struct	lmc_rpy
	RPY representation of rotation. More...
struct	lmc_euler_zyx
	Euler zyx representation of rotation. More...
struct	lmc_euler_zyz
	Euler zyx representation of rotation. More...
struct	lmc_quaternion
	Quaternion representation of rotation. More...
struct	lmc_transform
	Transform representation. More...
struct	lmc_twist
	Transform velocity representation. More...
struct	lmc_wrench
	Transform force representation. More...

Typedefs
typedef struct lmc_translation	lmc_translation_t
	Cartesian translation coordinate. More...
typedef struct lmc_rpy	lmc_rpy_t
	RPY representation of rotation. More...
typedef struct lmc_euler_zyx	lmc_euler_zyx_t
	Euler zyx representation of rotation. More...
typedef struct lmc_euler_zyz	lmc_euler_zyz_t
	Euler zyx representation of rotation. More...
typedef struct lmc_quaternion	lmc_quaternion_t
	Quaternion representation of rotation. More...
typedef struct lmc_transform	lmc_transform_t
	Transform representation. More...
typedef struct lmc_twist	lmc_twist_t
	Transform velocity representation.
typedef struct lmc_wrench	lmc_wrench_t
	Transform force representation.

Functions
void	lmc_euler_zyx_to_quaternion (lmc_euler_zyx_t const *const euler, lmc_quaternion_t *const quat)
	Math function to compute euler zyx to quaternion. More...
void	lmc_quaternion_to_euler_zyx (lmc_quaternion_t const *const quat, lmc_euler_zyx_t *const euler)
	Math function to compute euler zyx to quaternion. More...
void	lmc_euler_zyx_to_euler_zyz (lmc_euler_zyx_t const *const euler_zyx, lmc_euler_zyz_t *const euler_zyz)
	Math function to compute euler zyx to zyz. More...
void	lmc_euler_zyz_to_euler_zyx (lmc_euler_zyz_t const *const euler_zyz, lmc_euler_zyx_t *const euler_zyx)
	Math function to compute euler zyz to euler zyx. More...
void	lmc_euler_zyz_to_quaternion (lmc_euler_zyz_t const *const euler, lmc_quaternion_t *const quat)
	Math function to compute euler zyx to quaternion. More...
void	lmc_quaternion_to_euler_zyz (lmc_quaternion_t const *const quat, lmc_euler_zyz_t *const euler)
	Math function to compute euler zyx to quaternion. More...
lmc_euler_zyx_t	lmc_kin_compute_close_rotation (lmc_euler_zyx_t const *const rotation1, lmc_euler_zyx_t const *const rotation2)
	Math function to transfomr a twist(cartesian velocity). More...

Detailed Description

Math module.

Typedef Documentation

typedef struct lmc_euler_zyx lmc_euler_zyx_t

Euler zyx representation of rotation.

Note

Same as euler_t in lebai_kdl.

typedef struct lmc_euler_zyz lmc_euler_zyz_t

Euler zyx representation of rotation.

Note

Same as euler_t in lebai_kdl.

typedef struct lmc_quaternion lmc_quaternion_t

Quaternion representation of rotation.

Note

Same as quaternion_t in lebai_kdl.

typedef struct lmc_rpy lmc_rpy_t

RPY representation of rotation.

Note

Same as rotation_t in lebai_kdl.

typedef struct lmc_transform lmc_transform_t

Transform representation.

Note

Same as cartesian_frame_t in lebai_kdl.

typedef struct lmc_translation lmc_translation_t

Cartesian translation coordinate.

This parameter is used for input.

Note

Same as coordinate_t in lebai_kdl.

Function Documentation

void lmc_euler_zyx_to_euler_zyz	(	lmc_euler_zyx_t const *const	euler_zyx,
		lmc_euler_zyz_t *const	euler_zyz
	)

Math function to compute euler zyx to zyz.

Example usage code:

lmc_euler_zyx_t euler_zyx;
euler.alpha = 0.3;
euler.beta = 0.7;
euler.gamma = -0.2;
lmc_euler_zyz_t euler_zyz;
lmc_euler_zyx_to_euler_zyz(&euler_zyx, &euler_zyz);

Note

Parameters

[in]	euler_zyx	Euler zyx data input
[out]	euler_zyz	Euler zyz data output

void lmc_euler_zyx_to_quaternion	(	lmc_euler_zyx_t const *const	euler,
		lmc_quaternion_t *const	quat
	)

Math function to compute euler zyx to quaternion.

Example usage code:

lmc_euler_zyx_t euler;
euler.alpha = 0.3;
euler.beta = 0.7;
euler.gamma = -0.2;
lmc_quaternion_t quaternion;
lmc_euler_zyx_to_quaternion(&euler, &quaternion);

Note

Parameters

[in]	euler	Euler zyx data input
[out]	quat	Quaterion data output

void lmc_euler_zyz_to_euler_zyx	(	lmc_euler_zyz_t const *const	euler_zyz,
		lmc_euler_zyx_t *const	euler_zyx
	)

Math function to compute euler zyz to euler zyx.

Example usage code:

lmc_euler_zyz_t zyz;
lmc_euler_zyx_t zyx;
lmc_quaternion_to_euler(&zyz, &zyx);

Note

Parameters

[in]	quat	Quaterion data input.
[out]	euler	Euler zyx data output.

void lmc_euler_zyz_to_quaternion	(	lmc_euler_zyz_t const *const	euler,
		lmc_quaternion_t *const	quat
	)

Math function to compute euler zyx to quaternion.

Example usage code:

lmc_euler_zyz_t euler;
euler.alpha = 0.3;
euler.beta = 0.7;
euler.gamma = -0.2;
lmc_quaternion_t quaternion;
lmc_euler_zyz_to_quaternion(&euler, &quaternion);

Note

Parameters

[in]	euler	Euler zyz data input
[out]	quat	Quaterion data output

lmc_euler_zyx_t lmc_kin_compute_close_rotation	(	lmc_euler_zyx_t const *const	rotation1,
		lmc_euler_zyx_t const *const	rotation2
	)

Math function to transfomr a twist(cartesian velocity).

Example usage code:

lmc_quaternion_t quaternion;
lmc_euler_t euler_result;
lmc_quaternion_to_euler(&quaternion, &euler_result);

Parameters

[in]	t_in	twist in coodinate.
[in]	transform	coodinate pose.
[out]	t_out	Euler zyx data output. Example usage code: lmc_quaternion_t quaternion; lmc_euler_zyz_t euler_result; lmc_quaternion_to_euler_zyz(&quaternion, &euler_result);

/** Compute the closest rotation between two rotations.

Parameters

[in]	rotation1	First rotation.
[in]	rotation2	Second rotation.

Returns

Closest rotation.

void lmc_quaternion_to_euler_zyx	(	lmc_quaternion_t const *const	quat,
		lmc_euler_zyx_t *const	euler
	)

Math function to compute euler zyx to quaternion.

Example usage code:

lmc_quaternion_t quaternion;
lmc_euler_zyx_t euler_result;
lmc_quaternion_to_euler_zyx(&quaternion, &euler_result);

Note

Parameters

[in]	quat	Quaterion data input.
[out]	euler	Euler zyx data output.

void lmc_quaternion_to_euler_zyz	(	lmc_quaternion_t const *const	quat,
		lmc_euler_zyz_t *const	euler
	)

Math function to compute euler zyx to quaternion.

Example usage code:

lmc_quaternion_t quaternion;
lmc_euler_zyz_t euler_result;
lmc_quaternion_to_euler_zyz(&quaternion, &euler_result);

Note

Parameters

[in]	quat	Quaterion data input.
[out]	euler	Euler zyz data output.