gams::pose::simple_rotate Namespace Reference

For internal use. More...

Functions
double	calc_angle (const ReferenceFrameType *self, double rx1, double ry1, double rz1, double rx2, double ry2, double rz2)
	Calculates smallest angle between two AngularVectors. More...
void	orient_linear_vec (double &x, double &y, double &z, double rx, double ry, double rz, bool reverse=false)
	Rotates a LinearVector according to a AngularVector. More...
void	transform_angular_from_origin (const ReferenceFrameType *origin, const ReferenceFrameType *self, double orx, double ory, double orz, double &rx, double &ry, double &rz)
	Transform AngularVector in-place from its origin frame. More...
void	transform_angular_to_origin (const ReferenceFrameType *origin, const ReferenceFrameType *self, double orx, double ory, double orz, double &rx, double &ry, double &rz)
	Transform AngularVector in-place into its origin frame from this frame. More...
void	transform_pose_from_origin (const ReferenceFrameType *origin, const ReferenceFrameType *self, double ox, double oy, double oz, double orx, double ory, double orz, double &x, double &y, double &z, double &rx, double &ry, double &rz, bool fixed)
	Transform pose in-place from its origin frame Simply applies linear and angular transforms independantly. More...
void	transform_pose_to_origin (const ReferenceFrameType *origin, const ReferenceFrameType *self, double ox, double oy, double oz, double orx, double ory, double orz, double &x, double &y, double &z, double &rx, double &ry, double &rz, bool fixed)
	Transform pose in-place into its origin frame from this frame. More...

Detailed Description

For internal use.

Provides implementation of angular and pose transforms for frames where angular transformation is independant of linear. This applies to, for example, Cartesian and GPS frames, but not UTM frames. Inherit from this to use this implementation.

Function Documentation

calc_angle()

double gams::pose::simple_rotate::calc_angle	(	const ReferenceFrameType *	self,
		double	rx1,
		double	ry1,
		double	rz1,
		double	rx2,
		double	ry2,
		double	rz2
	)

Calculates smallest angle between two AngularVectors.

Parameters

self	the current reference frame
rx1	the starting angular on x axis
ry1	the starting angular on y axis
rz1	the starting angular on z axis
rx2	the ending rotatation on x axis
ry2	the ending angular on y axis
rz2	the ending angular on z axis

Returns

the difference in radians

orient_linear_vec()

void gams::pose::simple_rotate::orient_linear_vec	(	double &	x,
		double &	y,
		double &	z,
		double	rx,
		double	ry,
		double	rz,
		bool	reverse = false
	)

Rotates a LinearVector according to a AngularVector.

Parameters

x	the x coordinate to orient (in-place)
y	the y coordinate to orient (in-place)
z	the z coordinate to orient (in-place)
rx	the angular x to apply, axis-angle notation
ry	the angular y to apply, axis-angle notation
rz	the angular z to apply, axis-angle notation
reverse	if true, apply angular in opposite direction

transform_angular_from_origin()

void gams::pose::simple_rotate::transform_angular_from_origin	(	const ReferenceFrameType *	origin,
		const ReferenceFrameType *	self,
		double	orx,
		double	ory,
		double	orz,
		double &	rx,
		double &	ry,
		double &	rz
	)

Transform AngularVector in-place from its origin frame.

Parameters

origin	the origin frame
self	the current reference frame
orx	the x component of the origin axis-angle representation
ory	the y component of the origin axis-angle representation
orz	the z component of the origin axis-angle representation
rx	the x component of the axis-angle representation
ry	the y component of the axis-angle representation
rz	the z component of the axis-angle representation

transform_angular_to_origin()

void gams::pose::simple_rotate::transform_angular_to_origin	(	const ReferenceFrameType *	origin,
		const ReferenceFrameType *	self,
		double	orx,
		double	ory,
		double	orz,
		double &	rx,
		double &	ry,
		double &	rz
	)

Transform AngularVector in-place into its origin frame from this frame.

Parameters

origin	the origin frame
self	the current reference frame
orx	the x component of the origin axis-angle representation
ory	the y component of the origin axis-angle representation
orz	the z component of the origin axis-angle representation
rx	the x component of the axis-angle representation
ry	the y component of the axis-angle representation
rz	the z component of the axis-angle representation

transform_pose_from_origin()

void gams::pose::simple_rotate::transform_pose_from_origin	(	const ReferenceFrameType *	origin,
		const ReferenceFrameType *	self,
		double	ox,
		double	oy,
		double	oz,
		double	orx,
		double	ory,
		double	orz,
		double &	x,
		double &	y,
		double &	z,
		double &	rx,
		double &	ry,
		double &	rz,
		bool	fixed
	)

Transform pose in-place from its origin frame Simply applies linear and angular transforms independantly.

Parameters

origin	the origin frame
self	the current reference frame
x	the x axis for the coordinate to translate
y	the y axis for the coordinate to translate
z	the z axis for the coordinate to translate
ox	the x axis for the coordinate to translate
oy	the y axis for the coordinate to translate
oz	the z axis for the coordinate to translate
orx	the x component of the origin axis-angle representation
ory	the y component of the origin axis-angle representation
orz	the z component of the origin axis-angle representation
rx	the x component of the axis-angle representation
ry	the y component of the axis-angle representation
rz	the z component of the axis-angle representation

transform_pose_to_origin()

void gams::pose::simple_rotate::transform_pose_to_origin	(	const ReferenceFrameType *	origin,
		const ReferenceFrameType *	self,
		double	ox,
		double	oy,
		double	oz,
		double	orx,
		double	ory,
		double	orz,
		double &	x,
		double &	y,
		double &	z,
		double &	rx,
		double &	ry,
		double &	rz,
		bool	fixed
	)

Transform pose in-place into its origin frame from this frame.

Simply applies linear and angular transforms independantly

Parameters

origin	the origin frame
self	the current reference frame
ox	the x axis for the coordinate to translate
oy	the y axis for the coordinate to translate
oz	the z axis for the coordinate to translate
orx	the x component of the origin axis-angle representation
ory	the y component of the origin axis-angle representation
orz	the z component of the origin axis-angle representation
rx	the x component of the axis-angle representation
ry	the y component of the axis-angle representation
rz	the z component of the axis-angle representation