math.hpp File Reference

#include <Eigen/Geometry>
#include "cartesian_planning/types.hpp"
#include "moveit_pro_macros/macros.hpp"
#include "moveit_pro_types/types.hpp"

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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.
template<class LinearPart >
Eigen::Matrix6d	cartesian_planning::twistRotationMatrix (const LinearPart &rotation)
	Computes the 6x6 twist rotation matrix corresponding to a rotation.
template<class LinearPart >
Eigen::MatrixNd	cartesian_planning::multiTipTwistRotationMatrix (const LinearPart &rotation, const size_t num_tips)
	Computes the NxN twist rotation matrix corresponding to a rotation.
Eigen::Vector6d	cartesian_planning::transformTwist (const Eigen::Vector6d &twist_a, const Eigen::Isometry3d &b_pose_a)
	Transforms a twist in frame a to frame b, including the omega.cross(r) term.
double	cartesian_planning::angleDifference (const double angle_a, const double angle_b)
	Compute the unsigned angle difference between two angles.