math.hpp File Reference

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

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Namespaces
namespace	path_ik

Functions
Eigen::Vector3d	path_ik::rotationToAxisAngleVector (const Eigen::Quaterniond &rotation)
	Converts a 3D rotation given by a quaternion into its axis-angle (u-theta) representation.
Eigen::Vector6d	path_ik::poseToPoseVector (const Eigen::Isometry3d &pose)
	Converts a 3D Pose into its 6D vector representation (t, u-theta).
Eigen::Vector6d	path_ik::poseError (const Eigen::Isometry3d &a, const Eigen::Isometry3d &b)
	Computes the 3D error (translation and orientation) between two poses.
template<class LinearPart >
Eigen::Matrix6d	path_ik::twistRotationMatrix (const LinearPart &rotation)
	Computes the 6x6 twist rotation matrix corresponding to a rotation.
template<class LinearPart >
Eigen::MatrixNd	path_ik::multiTipTwistRotationMatrix (const LinearPart &rotation, const size_t num_tips)
	Computes the NxN twist rotation matrix corresponding to a rotation.
Eigen::Vector6d	path_ik::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	path_ik::angleDifference (const double angle_a, const double angle_b)
	Compute the unsigned angle difference between two angles.