lmc_math.h File Reference

Basic math data structure definitions and functions. More...

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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

Basic math data structure definitions and functions.

Author

liufang

Date

2021-07-12

Definition in file lmc_math.h.