math.cpp File Reference

#include "cartesian_planning/math.hpp"
#include "moveit_pro_types/types.hpp"

Include dependency graph for math.cpp:

Namespaces
namespace	cartesian_planning

Functions
Eigen::Vector3d	cartesian_planning::rotationToAxisAngleVector (const Eigen::Quaterniond &rotation)
	Converts a 3D rotation given by a quaternion into its axis-angle (u-theta) representation.
Eigen::Vector6d	cartesian_planning::poseToPoseVector (const Eigen::Isometry3d &pose)
	Converts a 3D Pose into its 6D vector representation (t, u-theta).
Eigen::Vector6d	cartesian_planning::poseError (const Eigen::Isometry3d &a, const Eigen::Isometry3d &b)
	Computes the 3D error (translation and orientation) between two poses.
Eigen::Vector6d	cartesian_planning::transformTwist (const Eigen::Vector6d &twist_a, const Eigen::Isometry3d &a_pose_b)
	Re-expresses a body twist from frame a to a rigidly-attached frame b, accounting for the lever-arm (omega x r) shift between the two origins.
double	cartesian_planning::angleDifference (const double angle_a, const double angle_b)
	Compute the unsigned angle difference between two angles.