Module arcos_kdl::geometry [−][src]
Expand description
Basic geometric constructs like Homogeneous transformations
Traits
Build homogeneous transformations from Euler angles, and translations
Get the internal components of a Homogeneous transformation
Different rotation representations
Functions
Add a differential to homogeneous transformation for integrating poses
Differentiate a homogeneous transformation for derivating poses
Calculate the absolute difference between two poses
Calculate the absolute difference between two twists
Optimized algorithm for inverting Homogeneous transformations
Change the reference rotation of a twist
Change the reference frame of a twist
Change the reference point of a twist
Truncate the norm of a twist to a certain limit
Type Definitions
Homogeneous matrix type. This is a 4x4 matrix, of wich the top left 3x3 matrix is the rotation, and the last column represents the position and scale.
Rotation 3x3 matrix type.
Hexadimensional velocity. The first 3 entries represent the translational velocity and the last 3 the rotational velocity
Vector 3D.