humoto::rigidbody Namespace Reference

Detailed Description

Namespace containing definitions related to rigid bodies and their motions.

Classes
class	CubicPolynomial1D
	Class interpolating simple 1D cubic polynomial between two 1D points. Use this class to build more complex trajectories. More...
class	EulerAngles
	Types of Euler angles. More...
class	PointMassState
	Class that groups together parmeters related to a robot foot. More...
class	RigidBodyPose
class	RigidBodyState
	Class that groups together parameters related to a robot foot. More...
class	RotaryState
	Class that groups together parameters related to a robot foot. More...
class	TrajectoryEvaluationType
	Type of interpolated trajectory. More...
class	TripleIntegrator
	Triple integrator class Class supports arbitrary number of integrators in the system. More...

Functions
etools::Vector3	convertEulerAngles (const etools::Vector3 &euler_angles, const EulerAngles::Type euler_angles_type_from, const EulerAngles::Type euler_angles_type_to)
	Convert Euler angles to a different set ofEuler angles. More...
etools::Matrix3	convertEulerAnglesToMatrix (const etools::Vector3 &euler_angles, const EulerAngles::Type euler_angles_type)
	Convert rotation matrix to Euler angles. More...
etools::Vector3	convertMatrixToEulerAngles (const etools::Matrix3 &rotation_matrix, const EulerAngles::Type euler_angles_type)
	Convert rotation matrix to Euler angles. More...
etools::Matrix3	getEulerRatesToAngularVelocityTransform (const etools::Vector3 &euler_angles, const EulerAngles::Type euler_angles_type)
	Returns matrix M such that w = M * de. More...
etools::Matrix3	getRotationError (const etools::Matrix3 &current, const etools::Matrix3 &reference)
etools::Vector3	getRotationErrorAngleAxis (const etools::Matrix3 &current, const etools::Matrix3 &reference)
etools::Matrix3	integrateAngularVelocity (const etools::Matrix3 &orientation, const etools::Vector3 &angular_velocity, const double dt)
	Integrate angular velocity to obtain orientation matrix. Simple version. More...
etools::Matrix3	integrateAngularVelocityRodrigues (const etools::Matrix3 &orientation, const etools::Vector3 &angular_velocity, const double dt, const double tolerance=humoto::g_generic_tolerance)
	Integrate angular velocity to obtain orientation matrix. Use Rodrigues formula. More...

Function Documentation

convertEulerAngles()

etools::Vector3 humoto::rigidbody::convertEulerAngles ( const etools::Vector3 &  euler_angles, const EulerAngles::Type  euler_angles_type_from, const EulerAngles::Type  euler_angles_type_to  )

inline

Convert Euler angles to a different set ofEuler angles.

Parameters

[in]	euler_angles
[in]	euler_angles_type_from
[in]	euler_angles_type_to

Returns

Euler angles

Definition at line 107 of file rotary_state.h.

convertEulerAnglesToMatrix()

etools::Matrix3 humoto::rigidbody::convertEulerAnglesToMatrix ( const etools::Vector3 &  euler_angles, const EulerAngles::Type  euler_angles_type  )

inline

Convert rotation matrix to Euler angles.

Parameters

[in]	euler_angles
[in]	euler_angles_type

Returns

Euler angles

Definition at line 71 of file rotary_state.h.

convertMatrixToEulerAngles()

etools::Vector3 humoto::rigidbody::convertMatrixToEulerAngles ( const etools::Matrix3 &  rotation_matrix, const EulerAngles::Type  euler_angles_type  )

inline

Convert rotation matrix to Euler angles.

Parameters

[in]	rotation_matrix
[in]	euler_angles_type

Returns

Euler angles

Definition at line 41 of file rotary_state.h.

getEulerRatesToAngularVelocityTransform()

etools::Matrix3 humoto::rigidbody::getEulerRatesToAngularVelocityTransform ( const etools::Vector3 &  euler_angles, const EulerAngles::Type  euler_angles_type  )

inline

Returns matrix M such that w = M * de.

Parameters

[in]	euler_angles	current orientation (Euler angles)
[in]	euler_angles_type	euler angles type

Returns

3x3 matrix

Definition at line 142 of file rotary_state.h.

getRotationError()

etools::Matrix3 humoto::rigidbody::getRotationError ( const etools::Matrix3 &  current, const etools::Matrix3 &  reference  )

inline

Definition at line 116 of file rotary_state.h.

getRotationErrorAngleAxis()

etools::Vector3 humoto::rigidbody::getRotationErrorAngleAxis ( const etools::Matrix3 &  current, const etools::Matrix3 &  reference  )

inline

Definition at line 123 of file rotary_state.h.

integrateAngularVelocity()

etools::Matrix3 humoto::rigidbody::integrateAngularVelocity ( const etools::Matrix3 &  orientation, const etools::Vector3 &  angular_velocity, const double  dt  )

inline

Integrate angular velocity to obtain orientation matrix. Simple version.

Parameters

[in]	orientation
[in]	angular_velocity
[in]	dt

Returns

new orientation matrix

Definition at line 176 of file rotary_state.h.

integrateAngularVelocityRodrigues()

etools::Matrix3 humoto::rigidbody::integrateAngularVelocityRodrigues ( const etools::Matrix3 &  orientation, const etools::Vector3 &  angular_velocity, const double  dt, const double  tolerance = humoto::g_generic_tolerance  )

inline

Integrate angular velocity to obtain orientation matrix. Use Rodrigues formula.

Parameters

[in]	orientation
[in]	angular_velocity
[in]	dt
[in]	tolerance

Returns

new orientation matrix

Definition at line 197 of file rotary_state.h.