jafar::geom::t3d Namespace Reference

This namespace contains free functions related to T3D class. More...

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Detailed Description

This namespace contains free functions related to T3D class.

Functions to compute jacobians, apply transformation to points,...

Functions
void	invJacEuler (const jblas::vec &v, jblas::mat &J)
	Compute jacobian of inverse fonction (Euler).
void	composeJacEuler (jblas::vec const &v1_, jblas::vec const &v2_, jblas::mat &J1, jblas::mat &J2)
	Compute jacobian of compose fonction (Euler).
template<class VecT , class VecPt , class MatJT , class MatJPt >
void	pointFromFrameJacEuler (VecT const &t, VecPt const &pt, MatJT &JT, MatJPt &JPt)
	Compute jacobian of t3d::pointFromFrame() (Euler).
template<class VecT , class VecPt , class MatJT , class MatJPt >
void	pointToFrameJacEuler (VecT const &t, VecPt const &pt, MatJT &JT, MatJPt &JPt)
	Compute jacobian of t3d::pointToFrame() (Euler).
void	odo3d (jblas::vec const &u, double dt, jblas::vec &xRes)
void	odo3dJac (jblas::vec const &u, double dt, jblas::mat &Ju)
template<class VecPtB , class VecPtA >
void	pointFromFrame (T3D const &aToB, VecPtB const &ptB, VecPtA &ptA)
	Apply transformation aToB to ptB in order to obtain coordinate of the vector in frame A vA.
template<class VecPtB , class MatJT3D , class MatJPtB >
void	pointFromFrameJac (T3D const &aToB, VecPtB const &ptB, MatJT3D &JT3D, MatJPtB &JPtB)
	Compute jacobian of pointFromFrame()
template<class VecPtB , class MatJT3D , class MatJPtB >
void	pointFromFrameJac (T3D const &aToB, VecPtB const &ptB, VecPtB &ptA, MatJT3D &JT3D, MatJPtB &JPtB)
	Compute pointFromFrame() and its jacobians.
template<class VecPtB , class VecPtA >
void	pointToFrame (T3D const &aToB, VecPtA const &ptA, VecPtB &ptB)
	Apply transformation aToB to ptA in order to obtain coordinate of the vector in frame B ptB.
template<class VecPtB , class MatJT3D , class MatJPtA >
void	pointToFrameJac (T3D const &aToB, VecPtB const &ptA, MatJT3D &JT3D, MatJPtA &JPtA)
	Compute jacobian of pointToFrame()
template<class VecPtB , class MatJT3D , class MatJPtA >
void	pointToFrameJac (T3D const &aToB, VecPtB const &ptA, VecPtB &ptB, MatJT3D &JT3D, MatJPtA &JPtA)
	Compute pointToFrame() and its jacobians.
template<class VecT , class VecPt , class MatJT , class MatJPt >
void	pointFromFrameJacQuaternion (VecT const &t, VecPt const &pt, MatJT &JT, MatJPt &JPt)
	Compute jacobian of pointFromFrame()
template<class VecT , class VecPt , class MatJT , class MatJPt >
void	pointToFrameJacQuaternion (VecT const &t, VecPt const &pt, MatJT &JT, MatJPt &JPt)
	Compute jacobian of pointToFrame()