Utility functions for 3D vector operations and affine transformations. More...

Enumerations
enum	{ Trans_NR_ENTRIES = 3, Rot_NR_ENTRIES = 9, TransRot_NR_ENTRIES = 12 }
	Numbers of entries for arrays representing 3D quantities. More...
Functions
Combine transformations

void	RotMultRotAsRot (const double Ra[], const double Rb[], double R[])
	R <-- Ra * Rb.
static void	TransMultTransAsTrans (const double Ta[], const double Tb[], double T[])
	T <-- Ta + Tb.
static void	TransMultRotAsTransRot (const double T[], const double R[], double TR[])
	TR <-- T * R.
static void	TransMultTransRotAsTransRot (const double T[], const double TR[], double TRresult[])
	TRresult <-- T * TR.
static void	RotMultTransAsTransRot (const double R[], const double T[], double TR[])
	TR <-- R * T.
static void	RotMultTransRotAsTransRot (const double R[], const double TR[], double TRresult[])
	TRresult <-- R * TR.
static void	TransRotMultTransAsTransRot (const double TR[], const double T[], double TRresult[])
	TRresult <-- TR * T.
static void	TransRotMultRotAsTransRot (const double TR[], const double R[], double TRresult[])
	TRresult <-- TR * R.
static void	TransRotMultTransRotAsTransRot (const double TRa[], const double TRb[], double TR[])
	TRresult <-- TRa * TRb.
Vector operations

static double	VecDotProduct (const double v1[], const double v2[])
	Computes the dot product of vectors v1 and v2.
static void	VecCrossProduct (const double v1[], const double v2[], double v[])
	Computes the cross product of vectors v1 and v2 and stores the result in v.
static double	VecNormSquared (const double v[])
	Computes the norm squared of the vector v.
static double	VecNorm (const double v[])
	Computes the norm of the vector v.
static void	VecUnit (const double v[], double vunit[])
	Computes the unit vector of v and stores the result in vunit.
static void	VecScale (const double v[], const double s, double vscaled[])
	Scales the vector v by the scalar s and stores the result in vscaled.
static void	VecAdd (const double v1[], const double v2[], double v[])
	Adds vectors v1 and v2 and stores the result in v.
static void	VecSubtract (const double v1[], const double v2[], double v[])
	Subtracts v2 from v1 and stores the result in v.
Identities for translations and rotations

static void	IdentityAsTrans (double T[])
	T is set to the identity for translations.
static void	IdentityAsRot (double R[])
	R is set to the identity for rotations.
static void	IdentityAsTransRot (double TR[])
	TR is set to the identity for translations and rotations.
Determine if specified transformation represents the identity transformation

static bool	IdentitySameAsTrans (const double T[])
	Determine if T is the same as the identity translation.
static bool	IdentitySameAsRot (const double R[])
	Determine if R is the same as the identity rotation.
static bool	IdentitySameAsTransRot (const double TR[])
	Determine if TR is the same as the identity translation and rotation.
Copy transformations

static void	TransAsTrans (const double x, const double y, const double z, double Tresult[])
	Set Tresult to the translation given by (x, y, z).
static void	TransAsTrans (const double T[], double Tresult[])
	Copy the translation T to Tresult.
static void	RotAsRot (const double R[], double Rresult[])
	Copy the rotation R to Rresult.
static void	TransRotAsTransRot (const double TR[], double TRresult[])
	Copy the transformation TR to TRresult.
Determine if specified transformations are the same

static bool	TransSameAsTrans (const double Ta[], const double Tb[])
	Determine if the translations Ta and Tb are the same.
static bool	RotSameAsRot (const double Ra[], const double Rb[])
	Determine if the rotations Ra and Rb are the same.
static bool	TransRotSameAsTransRot (const double TRa[], const double TRb[])
	Determine if the transformations TRa and TRb are the same.
Apply transformation to point

static void	TransMultPoint (const double T[], const double p[], double pnew[])
	Apply translation T to point p and store result in pnew.
static void	TransMultInvPoint (const double T[], const double p[], double pnew[])
	Apply translation T to the inverse of point p and store result in pnew.
static void	InvTransMultPoint (const double T[], const double p[], double pnew[])
	Apply the inverse of the translation T to point p and store result in pnew.
static void	InvTransMultInvPoint (const double T[], const double p[], double pnew[])
	Apply the inverse translation T to the inverse of point p and store result in pnew.
static void	RotMultPoint (const double R[], const double p[], double pnew[])
	Apply rotation R to point p and store result in pnew.
static void	RotMultInvPoint (const double R[], const double p[], double pnew[])
	Apply rotation R to the inverse of point p and store result in pnew.
static void	InvRotMultPoint (const double R[], const double p[], double pnew[])
	Apply the inverse of rotation R to point p and store result in pnew.
static void	InvRotMultInvPoint (const double R[], const double p[], double pnew[])
	Apply the inverse or rotation R to the inverse of point p and store result in pnew.
static void	TransRotMultPoint (const double TR[], const double p[], double pnew[])
	Apply transformation TR to point p and store result in pnew.
static void	TransRotMultInvPoint (const double TR[], const double p[], double pnew[])
	Apply transformation TR to the inverse of point p and store result in pnew.
static void	InvTransRotMultPoint (const double TR[], const double p[], double pnew[])
	Apply the inverse of the transformation TR to point p and store result in pnew.
static void	InvTransRotMultInvPoint (const double TR[], const double p[], double pnew[])
	Apply the inverse of the transformation TR to the inverse of point p and store result in pnew.
Inverse transformations

static void	InvTransAsTrans (const double T[], double Tresult[])
	Set Tresult as the inverse of the translation T.
static void	InvRotAsRot (const double R[], double Rresult[])
	Set Rresult as the inverse of the rotation R.
static void	InvTransRotAsTransRot (const double TR[], double TRresult[])
	Set TRresult as the inverse of the transformation TR.
Validity of transformation

static bool	RotIsValid (const double R[])
	Determine if R represent a valid rotation.

Detailed Description

Utility functions for 3D vector operations and affine transformations.

Author:: Erion Plaku

Enumeration Type Documentation

anonymous enum

Numbers of entries for arrays representing 3D quantities.

Author:: Erion Plaku

Enumerator:

Trans_NR_ENTRIES	Defines number of entries for representing 3D translations.
Rot_NR_ENTRIES	Defines number of entries for representing 3D rotations in matrix form.
TransRot_NR_ENTRIES	Defines number of entries for representing 3D translations and rotations.

Definition at line 56 of file Algebra3D.hpp.

Function Documentation

static void Utils::Algebra3D::IdentityAsRot ( double R[] ) [inline, static]

R is set to the identity for rotations.

Author:: Erion Plaku

Definition at line 186 of file Algebra3D.hpp.

static void Utils::Algebra3D::IdentityAsTrans ( double T[] ) [inline, static]

T is set to the identity for translations.

Author:: Erion Plaku

Definition at line 177 of file Algebra3D.hpp.

static void Utils::Algebra3D::IdentityAsTransRot ( double TR[] ) [inline, static]

TR is set to the identity for translations and rotations.

Author:: Erion Plaku

Definition at line 196 of file Algebra3D.hpp.

static bool Utils::Algebra3D::IdentitySameAsRot ( const double R[] ) [inline, static]

Determine if R is the same as the identity rotation.

Author:: Erion Plaku

Definition at line 228 of file Algebra3D.hpp.

static bool Utils::Algebra3D::IdentitySameAsTrans ( const double T[] ) [inline, static]

Determine if T is the same as the identity translation.

Author:: Erion Plaku

Definition at line 216 of file Algebra3D.hpp.

static bool Utils::Algebra3D::IdentitySameAsTransRot ( const double TR[] ) [inline, static]

Determine if TR is the same as the identity translation and rotation.

Author:: Erion Plaku

Definition at line 246 of file Algebra3D.hpp.

static void Utils::Algebra3D::InvRotAsRot	(	const double	R[],
		double	Rresult[]
	)			`[inline, static]`

Set Rresult as the inverse of the rotation R.

Author:: Erion Plaku

Definition at line 527 of file Algebra3D.hpp.

static void Utils::Algebra3D::InvRotMultInvPoint	(	const double	R[],
		const double	p[],
		double	pnew[]
	)			`[inline, static]`

Apply the inverse or rotation R to the inverse of point p and store result in pnew.

Author:: Erion Plaku

Definition at line 453 of file Algebra3D.hpp.

static void Utils::Algebra3D::InvRotMultPoint	(	const double	R[],
		const double	p[],
		double	pnew[]
	)			`[inline, static]`

Apply the inverse of rotation R to point p and store result in pnew.

Author:: Erion Plaku

Definition at line 439 of file Algebra3D.hpp.

static void Utils::Algebra3D::InvTransAsTrans	(	const double	T[],
		double	Tresult[]
	)			`[inline, static]`

Set Tresult as the inverse of the translation T.

Author:: Erion Plaku

Definition at line 516 of file Algebra3D.hpp.

static void Utils::Algebra3D::InvTransMultInvPoint	(	const double	T[],
		const double	p[],
		double	pnew[]
	)			`[inline, static]`

Apply the inverse translation T to the inverse of point p and store result in pnew.

Author:: Erion Plaku

Definition at line 400 of file Algebra3D.hpp.

static void Utils::Algebra3D::InvTransMultPoint	(	const double	T[],
		const double	p[],
		double	pnew[]
	)			`[inline, static]`

Apply the inverse of the translation T to point p and store result in pnew.

Author:: Erion Plaku

Definition at line 389 of file Algebra3D.hpp.

static void Utils::Algebra3D::InvTransRotAsTransRot	(	const double	TR[],
		double	TRresult[]
	)			`[inline, static]`

Set TRresult as the inverse of the transformation TR.

Author:: Erion Plaku

Definition at line 543 of file Algebra3D.hpp.

static void Utils::Algebra3D::InvTransRotMultInvPoint	(	const double	TR[],
		const double	p[],
		double	pnew[]
	)			`[inline, static]`

Apply the inverse of the transformation TR to the inverse of point p and store result in pnew.

Author:: Erion Plaku

Definition at line 497 of file Algebra3D.hpp.

static void Utils::Algebra3D::InvTransRotMultPoint	(	const double	TR[],
		const double	p[],
		double	pnew[]
	)			`[inline, static]`

Apply the inverse of the transformation TR to point p and store result in pnew.

Author:: Erion Plaku

Definition at line 487 of file Algebra3D.hpp.

static void Utils::Algebra3D::RotAsRot	(	const double	R[],
		double	Rresult[]
	)			`[inline, static]`

Copy the rotation R to Rresult.

Author:: Erion Plaku

Definition at line 290 of file Algebra3D.hpp.

static bool Utils::Algebra3D::RotIsValid ( const double R[] ) [inline, static]

Determine if R represent a valid rotation.

Author:: Erion Plaku

Definition at line 667 of file Algebra3D.hpp.

static void Utils::Algebra3D::RotMultInvPoint	(	const double	R[],
		const double	p[],
		double	pnew[]
	)			`[inline, static]`

Apply rotation R to the inverse of point p and store result in pnew.

Author:: Erion Plaku

Definition at line 425 of file Algebra3D.hpp.

static void Utils::Algebra3D::RotMultPoint	(	const double	R[],
		const double	p[],
		double	pnew[]
	)			`[inline, static]`

Apply rotation R to point p and store result in pnew.

Author:: Erion Plaku

Definition at line 411 of file Algebra3D.hpp.

void Utils::Algebra3D::RotMultRotAsRot	(	const double	Ra[],
		const double	Rb[],
		double	R[]
	)

R <-- Ra * Rb.

Author:: Erion Plaku

static void Utils::Algebra3D::RotMultTransAsTransRot	(	const double	R[],
		const double	T[],
		double	TR[]
	)			`[inline, static]`

TR <-- R * T.

Author:: Erion Plaku

Definition at line 600 of file Algebra3D.hpp.

static void Utils::Algebra3D::RotMultTransRotAsTransRot	(	const double	R[],
		const double	TR[],
		double	TRresult[]
	)			`[inline, static]`

TRresult <-- R * TR.

Author:: Erion Plaku

Definition at line 611 of file Algebra3D.hpp.

static bool Utils::Algebra3D::RotSameAsRot	(	const double	Ra[],
		const double	Rb[]
	)			`[inline, static]`

Determine if the rotations Ra and Rb are the same.

Author:: Erion Plaku

Definition at line 329 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransAsTrans	(	const double	T[],
		double	Tresult[]
	)			`[inline, static]`

Copy the translation T to Tresult.

Author:: Erion Plaku

Definition at line 279 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransAsTrans	(	const double	x,
		const double	y,
		const double	z,
		double	Tresult[]
	)			`[inline, static]`

Set Tresult to the translation given by (x, y, z).

Author:: Erion Plaku

Definition at line 267 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransMultInvPoint	(	const double	T[],
		const double	p[],
		double	pnew[]
	)			`[inline, static]`

Apply translation T to the inverse of point p and store result in pnew.

Author:: Erion Plaku

Definition at line 378 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransMultPoint	(	const double	T[],
		const double	p[],
		double	pnew[]
	)			`[inline, static]`

Apply translation T to point p and store result in pnew.

Author:: Erion Plaku

Definition at line 367 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransMultRotAsTransRot	(	const double	T[],
		const double	R[],
		double	TR[]
	)			`[inline, static]`

TR <-- T * R.

Author:: Erion Plaku

Definition at line 573 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransMultTransAsTrans	(	const double	Ta[],
		const double	Tb[],
		double	T[]
	)			`[inline, static]`

T <-- Ta + Tb.

Author:: Erion Plaku

Definition at line 562 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransMultTransRotAsTransRot	(	const double	T[],
		const double	TR[],
		double	TRresult[]
	)			`[inline, static]`

TRresult <-- T * TR.

Author:: Erion Plaku

Definition at line 583 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransRotAsTransRot	(	const double	TR[],
		double	TRresult[]
	)			`[inline, static]`

Copy the transformation TR to TRresult.

Author:: Erion Plaku

Definition at line 299 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransRotMultInvPoint	(	const double	TR[],
		const double	p[],
		double	pnew[]
	)			`[inline, static]`

Apply transformation TR to the inverse of point p and store result in pnew.

Author:: Erion Plaku

Definition at line 477 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransRotMultPoint	(	const double	TR[],
		const double	p[],
		double	pnew[]
	)			`[inline, static]`

Apply transformation TR to point p and store result in pnew.

Author:: Erion Plaku

Definition at line 467 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransRotMultRotAsTransRot	(	const double	TR[],
		const double	R[],
		double	TRresult[]
	)			`[inline, static]`

TRresult <-- TR * R.

Author:: Erion Plaku

Definition at line 634 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransRotMultTransAsTransRot	(	const double	TR[],
		const double	T[],
		double	TRresult[]
	)			`[inline, static]`

TRresult <-- TR * T.

Author:: Erion Plaku

Definition at line 621 of file Algebra3D.hpp.

static void Utils::Algebra3D::TransRotMultTransRotAsTransRot	(	const double	TRa[],
		const double	TRb[],
		double	TR[]
	)			`[inline, static]`

TRresult <-- TRa * TRb.

Author:: Erion Plaku

Definition at line 644 of file Algebra3D.hpp.

static bool Utils::Algebra3D::TransRotSameAsTransRot	(	const double	TRa[],
		const double	TRb[]
	)			`[inline, static]`

Determine if the transformations TRa and TRb are the same.

Author:: Erion Plaku

Definition at line 347 of file Algebra3D.hpp.

static bool Utils::Algebra3D::TransSameAsTrans	(	const double	Ta[],
		const double	Tb[]
	)			`[inline, static]`

Determine if the translations Ta and Tb are the same.

Author:: Erion Plaku

Definition at line 317 of file Algebra3D.hpp.

static void Utils::Algebra3D::VecAdd	(	const double	v1[],
		const double	v2[],
		double	v[]
	)			`[inline, static]`

Adds vectors v1 and v2 and stores the result in v.

Author:: Erion Plaku

Definition at line 146 of file Algebra3D.hpp.

static void Utils::Algebra3D::VecCrossProduct	(	const double	v1[],
		const double	v2[],
		double	v[]
	)			`[inline, static]`

Computes the cross product of vectors v1 and v2 and stores the result in v.

Author:: Erion Plaku

Definition at line 92 of file Algebra3D.hpp.

static double Utils::Algebra3D::VecDotProduct	(	const double	v1[],
		const double	v2[]
	)			`[inline, static]`

Computes the dot product of vectors v1 and v2.

Author:: Erion Plaku

Definition at line 83 of file Algebra3D.hpp.

static double Utils::Algebra3D::VecNorm ( const double v[] ) [inline, static]

Computes the norm of the vector v.

Author:: Erion Plaku

Definition at line 114 of file Algebra3D.hpp.

static double Utils::Algebra3D::VecNormSquared ( const double v[] ) [inline, static]

Computes the norm squared of the vector v.

Author:: Erion Plaku

Definition at line 105 of file Algebra3D.hpp.

static void Utils::Algebra3D::VecScale	(	const double	v[],
		const double	s,
		double	vscaled[]
	)			`[inline, static]`

Scales the vector v by the scalar s and stores the result in vscaled.

Author:: Erion Plaku

Definition at line 135 of file Algebra3D.hpp.

static void Utils::Algebra3D::VecSubtract	(	const double	v1[],
		const double	v2[],
		double	v[]
	)			`[inline, static]`

Subtracts v2 from v1 and stores the result in v.

Author:: Erion Plaku

Definition at line 157 of file Algebra3D.hpp.

static void Utils::Algebra3D::VecUnit	(	const double	v[],
		double	vunit[]
	)			`[inline, static]`

Computes the unit vector of v and stores the result in vunit.

Author:: Erion Plaku

Definition at line 123 of file Algebra3D.hpp.

MAPS-TFSS: Manipulating And Perceiving Simultaneously - Tactile Force Sensor Simulator

Utils::Algebra3D Namespace Reference

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

Function Documentation