htransform.h
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Definition of the boolean type. void HTransformApplyRot(double *p_in, double *p_out, THTransform *t) Multiply the rotation part of the homogeneous transform and a vector. Definition: htransform.c:747 void GetYawPitchRoll(double *a, double *b, double *c, THTransform *t) Recovers the Euler angles from a rotation matrix. Definition: htransform.c:599 void HTransformAdd(THTransform *t1, THTransform *t2, THTransform *t3) Addition of two homogeneous transforms. Definition: htransform.c:437 boolean HTransformIsTranslation(THTransform *t) Identify the translation matrices. Definition: htransform.c:96 void HTransformPrettyPrint(FILE *f, THTransform *t) Prints a homogenoeus transform compactly. Definition: htransform.c:809 A homgeneous transform in R^3. void HTransformAcumTrans2(THTransform *t_in, double tx, double ty, double tz, THTransform *t) Computes the result of multiplying a homogeneous transform by a translation matrix with parameters tx... Definition: htransform.c:656 void HTransformApply(double *p_in, double *p_out, THTransform *t) Multiply a homogeneous transform and a vector. Definition: htransform.c:728 void HTransform2GLMatrix(double *m, THTransform *t) Defines a GL column-major matrix from a homogeneous transform. Definition: htransform.c:351 double HTransformGetElement(unsigned int i, unsigned int j, THTransform *t) Gets an element in a homogeneous transform. Definition: htransform.c:323 void HTransformTranspose(THTransform *t, THTransform *tt) Transpose of a homogeneous transform. Definition: htransform.c:618 void HTransformInverse(THTransform *t, THTransform *ti) Inverse of a homogeneous transform. Definition: htransform.c:468 void HTransformCreate(unsigned int dof_r3, double v, THTransform *t) Constructor. Definition: htransform.c:272 Definitions of constants and macros used in several parts of the cuik library. void HTransformTxyz(double tx, double ty, double tz, THTransform *t) Constructor. Definition: htransform.c:140 void HTransformAcumTrans(double tx, double ty, double tz, THTransform *t) Computes the result of multiplying a homogeneous transform by a translation matrix with parameters tx... Definition: htransform.c:641 void HTransformX2Vect(double sy, double sz, double *p1, double *p2, THTransform *t) Transform a unitary vector along the X axis to a generic vector. Definition: htransform.c:539 void HTransformProduct(THTransform *t1, THTransform *t2, THTransform *t3) Product of two homogeneous transforms. Definition: htransform.c:404 void HTransformFromGLMatrix(double *m, THTransform *t) Defines homogeneous transform from a GL matrix. Definition: htransform.c:373 void HTransformFromVectors(double *x, double *y, double *z, double *h, THTransform *t) Defines a homogeneous transform from 4 vectors. Definition: htransform.c:335 void HTransformYawPitchRoll(double a, double b, double c, THTransform *t) Defines a rotation matrix from the yaw, pitch, and roll parameters. Definition: htransform.c:590 void HTransformAcumRot(unsigned int type, double s, double c, THTransform *t) Computes the result of multiplying a homogeneous transform by a rotation matrix. Definition: htransform.c:673 void HTransformAcumRot2(THTransform *t_in, unsigned int type, double s, double c, THTransform *t) Computes the result of multiplying a homogeneous transform by a rotation matrix. Definition: htransform.c:716 void HTransformPrint(FILE *f, THTransform *t) Prints the a homogeneous transform to a file. Definition: htransform.c:768 void HTransformSetElement(unsigned int i, unsigned int j, double v, THTransform *t) Sets an element in a homogeneous transform. Definition: htransform.c:306 boolean HTransformIsIdentity(THTransform *t) Identify the identity matrix. Definition: htransform.c:91 void HTransformPrintT(FILE *f, THTransform *t) Prints the transpose of a homogeneous transform to a file. Definition: htransform.c:794 void HTransformCopy(THTransform *t_dst, THTransform *t_org) Copy constructor. Definition: htransform.c:83 void HTransformOrthonormalize(THTransform *t, THTransform *ta) Orthonormalizes the rotation part of a homogenouos transform. Definition: htransform.c:494 |
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