lebai-motion-control  3.1.6
lebai motion control C interface
Data Structures | Typedefs | Functions
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...
 

Detailed Description

Basic math data structure definitions and functions.

Author
liufang
Date
2021-07-12

Definition in file lmc_math.h.