Functions to calculate various Rotation matrices. More...

#include "postprocess.h"

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Functions
void	encaps_vector2rot (double vrot, double Rot)
void	gsl_vector2Rot_matrix (gsl_matrix Rot, gsl_vector v)
void	gsl_Rot_matrix2vector (gsl_matrix Rot, gsl_vector v)
void	gsl_rot_to_rodrigues (gsl_matrix Rot, gsl_vector rodrig)
void	gsl_rodrigues_to_rot (gsl_vector rodrig, gsl_matrix Rot)
void	gramSchmidt (gsl_vector v1, gsl_vector v2, gsl_vector v3, gsl_matrix R)
void	mat_passage_3pts (gsl_vector v1, gsl_vector v2, gsl_vector v3, gsl_matrix T)
void	rotX (double alpha_rad, gsl_matrix *Rot)
	Rotation matrix about axis X, angle in radians.
void	rotY (double alpha_rad, gsl_matrix *Rot)
	Rotation matrix about axis Y, angle in radians.
void	rotZ (double alpha_rad, gsl_matrix *Rot)
	Rotation matrix about axis Z, angle in radians.
void	rotEuler (double X, double Y, double Z, gsl_matrix *Rot)
int	gsl_hom_matrix (gsl_vector P, gsl_matrix Rot, gsl_matrix *H)
	homogeneous transformation matrix

Detailed Description

Functions to calculate various Rotation matrices.

Function Documentation

void encaps_vector2rot	(	double *	vrot,
		double *	Rot
	)

References gsl_matrix2double(), and gsl_vector2Rot_matrix().

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void gramSchmidt	(	gsl_vector *	v1,
		gsl_vector *	v2,
		gsl_vector *	v3,
		gsl_matrix *	R
	)

Construct matrix such that v2-v1 is x-axis, v3-v2-v1 is the x-y-z plane. R converts local coordinates of frame fixed to v1,v2,v3 to global coords.

References gsl_vector_cross_product3D(), and gsl_vector_norme().

Referenced by calc_trans_mat(), and mat_passage_3pts().

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int gsl_hom_matrix	(	gsl_vector *	P,
		gsl_matrix *	Rot,
		gsl_matrix *	H
	)

homogeneous transformation matrix

Takes in the rotation matrix and translation vector as input and stores the resultant homogeneous transformation matrix in H.

Parameters:

[in]	P	A vector containing the translation co-ordinates of the transform. Expressed as a 3x1 position vector
[in]	Rot	3x3 Rotation matrix
[out]	H	Resultant transformation matrix obtained as H = [R P; 0 0 0 1]

Returns:: Returns 0 for no error.

Referenced by calc_collar_angles(), calc_joint_angle_err(), DH_hayati(), DHtoFix(), and gsl_pt_quat_matrix().

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void gsl_rodrigues_to_rot	(	gsl_vector *	rodrig,
		gsl_matrix *	Rot
	)

Referenced by calc_collar_angles(), and gsl_pt_quat_matrix().

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void gsl_Rot_matrix2vector	(	gsl_matrix *	Rot,
		gsl_vector *	v
	)

References gsl_vector_norme().

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void gsl_rot_to_rodrigues	(	gsl_matrix *	Rot,
		gsl_vector *	rodrig
	)

Referenced by calc_collar_angles().

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void gsl_vector2Rot_matrix	(	gsl_matrix *	Rot,
		gsl_vector *	v
	)

References gsl_vector_norme().

Referenced by encaps_vector2rot().

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void mat_passage_3pts	(	gsl_vector *	v1,
		gsl_vector *	v2,
		gsl_vector *	v3,
		gsl_matrix *	T
	)

References gramSchmidt().

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void rotEuler	(	double	X,
		double	Y,
		double	Z,
		gsl_matrix *	Rot
	)

References rotX(), rotY(), and rotZ().

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void rotX	(	double	alpha_rad,
		gsl_matrix *	Rot
	)

Rotation matrix about axis X, angle in radians.

Referenced by DH_hayati(), DHtoFix(), and rotEuler().

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void rotY	(	double	alpha_rad,
		gsl_matrix *	Rot
	)

Rotation matrix about axis Y, angle in radians.

Referenced by DH_hayati(), and rotEuler().

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void rotZ	(	double	alpha_rad,
		gsl_matrix *	Rot
	)

Rotation matrix about axis Z, angle in radians.

Referenced by calc_collar_angles(), calc_joint_angle_err(), DH_hayati(), DHtoFix(), and rotEuler().

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