gcop::SE3 Class Reference

#include <se3.h>

Inheritance diagram for gcop::SE3:

Collaboration diagram for gcop::SE3:

List of all members.

Public Member Functions
	SE3 ()
void	inv (Matrix4d &gi, const Matrix4d &g) const
void	hat (Matrix4d &vh, const Vector6d &v) const
void	hatinv (Vector6d &v, const Matrix4d &vh) const
void	Tg (Matrix6d &M, const Matrix4d &g) const
void	Ad (Matrix6d &M, const Matrix4d &g) const
void	ad (Matrix6d &M, const Vector6d &v) const
void	adt (Matrix6d &M, const Vector6d &mu) const
void	adinv (Vector6d &v, const Matrix6d &m) const
void	exp (Matrix4d &g, const Vector6d &v) const
void	log (Vector6d &v, const Matrix4d &g) const
void	cay (Matrix4d &g, const Vector6d &v) const
void	dcay (Matrix6d &M, const Vector6d &v) const
void	dcayinv (Matrix6d &M, const Vector6d &v) const
void	tlnmu (Vector6d &mup, const Vector6d &v, const Vector6d &mu) const
void	tln (Matrix6d &M, const Vector6d &v) const
void	q2g (Matrix4d &g, const Vector6d &q) const
void	quatxyz2g (Matrix4d &g, const Vector7d &wquatxyz) const
void	g2quatxyz (Vector7d &wquatxyz, const Matrix4d &g) const
void	g2q (Vector6d &q, const Matrix4d &g) const
void	rpyxyz2g (Matrix4d &g, const Vector3d &rpy, const Vector3d &xyz) const
void	g2rpyxyz (Vector3d &rpy, Vector3d &xyz, const Matrix4d &g) const
Static Public Member Functions
static SE3 &	Instance ()
Public Attributes
double	tol
	numerical tolerance
SO3 &	so3
	convenience object for accessing SO3 operations

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Constructor & Destructor Documentation

SE3::SE3

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)

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Member Function Documentation

void SE3::Ad	(	Matrix6d &	M,
		const Matrix4d &	g
	)		const

References gcop::SO3::ad(), and so3.

Referenced by gcop::MbsManifold::Adtau(), gcop::Mbs::Bias(), gcop::Mbs::DBias(), gcop::Joint::Init(), gcop::Mbs::Mass(), gcop::Mbs::NewtonEulerJacobian(), gcop::KinRccar::Step(), and gcop::Kinbody3d< _nu >::Step().

void SE3::ad	(	Matrix6d &	M,
		const Vector6d &	v
	)		const

References gcop::SO3::ad(), and so3.

Referenced by gcop::Uuv< c >::SympStep(), and tln().

void SE3::adinv	(	Vector6d &	v,
		const Matrix6d &	m
	)		const

References gcop::SO3::hatinv(), and so3.

void SE3::adt	(	Matrix6d &	M,
		const Vector6d &	mu
	)		const

References gcop::SO3::ad(), and so3.

Referenced by gcop::Mbs::NewtonEulerJacobian(), and gcop::Uuv< c >::SympStep().

void SE3::cay	(	Matrix4d &	g,
		const Vector6d &	v
	)		const

Referenced by gcop::MbsManifold::Adtau(), gcop::MbsCspace::Retract(), gcop::MbsManifold::Retract(), gcop::KinRccar::Step(), gcop::Kinbody3d< _nu >::Step(), and gcop::Uuv< c >::SympStep().

void SE3::dcay	(	Matrix6d &	M,
		const Vector6d &	v
	)		const

References gcop::Manifold< Matrix< double, m, m >, n >::n.

Referenced by gcop::MbsManifold::dtau(), gcop::KinRccar::Step(), and gcop::Kinbody3d< _nu >::Step().

void SE3::dcayinv	(	Matrix6d &	M,
		const Vector6d &	v
	)		const

References gcop::SO3::ad(), gcop::SO3::dcayinv(), gcop::Group< n, m >::Id, and so3.

void SE3::exp	(	Matrix4d &	g,
		const Vector6d &	v
	)		const

References gcop::SO3::dexp(), gcop::SO3::exp(), and so3.

Referenced by gcop::MbsManifold::Adtau(), gcop::Mbs::FK(), gcop::Mbs::KStep(), gcop::Mbs::Rec(), and gcop::MbsManifold::Retract().

void SE3::g2q	(	Vector6d &	q,
		const Matrix4d &	g
	)		const

References gcop::SO3::g2q(), and so3.

void SE3::g2quatxyz	(	Vector7d &	wquatxyz,
		const Matrix4d &	g
	)		const

References gcop::SO3::g2quat(), and so3.

void SE3::g2rpyxyz	(	Vector3d &	rpy,
		Vector3d &	xyz,
		const Matrix4d &	g
	)		const

References gcop::SO3::g2q(), and so3.

void SE3::hat	(	Matrix4d &	vh,
		const Vector6d &	v
	)		const

References gcop::SO3::ad(), and so3.

void SE3::hatinv	(	Vector6d &	v,
		const Matrix4d &	vh
	)		const

References gcop::SO3::hatinv(), and so3.

SE3 & SE3::Instance

(

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[static]

Referenced by gcop::MbsManifold::Adtau(), gcop::AirbotView::AirbotView(), gcop_urdf::bulletmbsgenerator(), gcop::MbsManifold::dtau(), gcop::Joint::Init(), gcop::MbsCspace::Lift(), gcop::MbsManifold::Lift(), gcop::MbsCspace::Retract(), gcop::MbsManifold::Retract(), gcop::MbsController::Set(), gcop::KinRccar::Step(), gcop::Kinbody3d< _nu >::Step(), and gcop::Uuv< c >::SympStep().

void SE3::inv	(	Matrix4d &	gi,
		const Matrix4d &	g
	)		const

Referenced by gcop::Mbs::Bias(), gcop::Mbs::DBias(), gcop::Joint::Init(), gcop::Mbs::KStep(), gcop::MbsCspace::Lift(), gcop::MbsManifold::Lift(), gcop::Mbs::Mass(), gcop::Mbs::NewtonEulerJacobian(), gcop::Mbs::Rec(), and gcop::MbsController::Set().

void SE3::log	(	Vector6d &	v,
		const Matrix4d &	g
	)		const

References gcop::SO3::dexpinv(), gcop::SO3::log(), and so3.

Referenced by gcop::Mbs::KStep(), gcop::MbsManifold::Lift(), gcop::Mbs::Rec(), and gcop::MbsController::Set().

void SE3::q2g	(	Matrix4d &	g,
		const Vector6d &	q
	)		const

References gcop::SO3::q2g(), and so3.

void SE3::quatxyz2g	(	Matrix4d &	g,
		const Vector7d &	wquatxyz
	)		const

References gcop::SO3::quat2g(), and so3.

Referenced by gcop_urdf::bulletmbsgenerator().

void SE3::rpyxyz2g	(	Matrix4d &	g,
		const Vector3d &	rpy,
		const Vector3d &	xyz
	)		const

References gcop::SO3::q2g(), and so3.

Referenced by gcop::Airbot::Airbot(), gcop::AirbotView::AirbotView(), gcop::Airm::Airm(), gcop::Chain::Chain(), gcop::Chain1::Chain1(), and gcop::Snake::Snake().

void SE3::Tg	(	Matrix6d &	M,
		const Matrix4d &	g
	)		const

void SE3::tln	(	Matrix6d &	M,
		const Vector6d &	v
	)		const

References ad().

Referenced by gcop::MbsManifold::dtau(), gcop::Mbs::NewtonEulerJacobian(), and gcop::Uuv< c >::SympStep().

void SE3::tlnmu	(	Vector6d &	mup,
		const Vector6d &	v,
		const Vector6d &	mu
	)		const

Referenced by gcop::Mbs::DBias().

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Member Data Documentation

SO3& gcop::SE3::so3

convenience object for accessing SO3 operations

Referenced by Ad(), ad(), adinv(), adt(), dcayinv(), exp(), g2q(), g2quatxyz(), g2rpyxyz(), hat(), hatinv(), log(), q2g(), quatxyz2g(), and rpyxyz2g().

double gcop::SE3::tol

numerical tolerance

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The documentation for this class was generated from the following files:

• lib/utils/se3.h
• lib/utils/se3.cc