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Vector.hh Go to the documentation of this file. /* * Gazebo - Outdoor Multi-Robot Simulator * Copyright (C) 2003 * Nate Koenig & Andrew Howard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ /* Desc: Vector classes and functions * Author: Andrew Howard * Date: 11 Jun 2003 * CVS: $Id: Vector.hh,v 1.7 2004/11/30 00:11:48 natepak Exp $ */ #ifndef GZVECTOR_H_ #define GZVECTOR_H_ #include <math.h> #include "Global.hh" // Basic 3 vector struct GzVector { double x, y, z; }; // Quatnernion struct GzQuatern { double u, x, y, z; }; // Combined pose struct GzPose { GzVector pos; GzQuatern rot; }; typedef struct { double m[3][3]; } GzHomo; // Create a zero vector GzVector GzVectorZero(); // Create a vector from the given values GzVector GzVectorSet(double x, double y, double z); // Create a vector from a quaternion GzVector GzVectorSetQuatern(GzQuatern q); // Add one vector to another (element by element) GzVector GzVectorAdd(GzVector b, GzVector a); // Subtract one vector from another (element by element) GzVector GzVectorSub(GzVector b, GzVector a); // Mutliply vector by scalar GzVector GzVectorMul(double s, GzVector a); // Compute vector magnitude double GzVectorMag(GzVector a); // Normalize a vector to unit length GzVector GzVectorUnit(GzVector a); // Take cross product of two vectors GzVector GzVectorCross(GzVector a, GzVector b); // Take dot product of two vectors double GzVectorDot(GzVector a, GzVector b); // See if a vector is finite (e.g., not nan) bool GzVectorFinite(GzVector a); // Create an identity quaternion GzQuatern GzQuaternIdent(); // Create a quaternion from elements GzQuatern GzQuaternSet(double u, double x, double y, double z); // Create a quaternion form a vector GzQuatern GzQuaternSetVector(GzVector v); // Invert a quaternion GzQuatern GzQuaternInverse(GzQuatern a); // Normalize a quaternion GzQuatern GzQuaternNormal(GzQuatern a); // Create a quaternion from an axis and angle GzQuatern GzQuaternFromAxis(double x, double y, double z, double a); // Create a quaternion from Euler angles GzQuatern GzQuaternFromEuler(double roll, double pitch, double yaw); // Convert quaternion to Euler angles (roll, pitch, yaw) GzVector GzQuaternToEuler(GzQuatern q); // Convert quaterion to axis and angle (x, y, z, rotation) GzQuatern GzQuaternToAxis(GzQuatern a); // Multiply two quaternions GzQuatern GzQuaternMul(GzQuatern a, GzQuatern b); // Scale a quaternion rotation GzQuatern GzQuaternScale(double s, GzQuatern a); // See if a quaternion is finite (e.g., not nan) bool GzQuaternFinite(GzQuatern a); // Create a pose from the given position and rotation GzPose GzPoseSet(GzVector pos, GzQuatern rot); GzPose GzPosePointAt(GzVector pos, GzVector at, GzVector up); // See if a pose is finite (e.g., not nan) bool GzPoseFinite(GzPose a); // Add one pose to another: c = b + a GzPose GzCoordPoseAdd(GzPose bpose, GzPose apose); // Subtract one pose from another: c = b - a GzPose GzCoordPoseSub(GzPose bpose, GzPose apose); // Find the inverse of a pose; i.e., if b = ba + a, given b and ba, // find a GzPose GzCoordPoseSolve(GzPose ba, GzPose b); // Add one position to another: c = b + a GzVector GzCoordPositionAdd(GzVector bpos, GzVector apos, GzQuatern arot); // Subtract one position from another: c = b - a GzVector GzCoordPositionSub(GzVector bpos, GzVector apos, GzQuatern arot); // Add one rotation to another: c = b + a GzQuatern GzCoordRotationAdd(GzQuatern b, GzQuatern a); // Subtract one rotation from another: c = b - a GzQuatern GzCoordRotationSub(GzQuatern b, GzQuatern a); GzHomo GzHomoFromQuatern(GzQuatern q); GzHomo GzHomoInverse(GzHomo a); GzVector GzHomoMul(GzHomo m, GzVector a); #endif

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Last updated $Date: 2004/12/21 01:49:15 $

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