shtransform.h File Reference

Detailed Description

Module to manage symbolic homogeneous transforms in R^3.

See Also

shtransform.c, TSHTransform, THTransform.

Definition in file shtransform.h.

Typedefs
typedef Tequation ***	TSHTransform
	A symbolid homogeneous transform in R^3. More...

Functions
void	SHTransformIdentity (TSHTransform *t)
	Constructor. More...
void	SHTransformFromEqVectors (TEqVector *x, TEqVector *y, TEqVector *d, TSHTransform *t)
	Initializes a symbolic homogeneous transform from vectors. More...
void	SHTransformCopy (TSHTransform *t_dst, TSHTransform *t_org)
	Copy constructor. More...
void	SHTransformTx (double tx, TSHTransform *t)
	Constructor. More...
void	SHTransformVarTx (unsigned int x, TSHTransform *t)
	Constructor. More...
void	SHTransformTy (double ty, TSHTransform *t)
	Constructor. More...
void	SHTransformVarTy (unsigned int y, TSHTransform *t)
	Constructor. More...
void	SHTransformTz (double tz, TSHTransform *t)
	Constructor. More...
void	SHTransformVarTz (unsigned int z, TSHTransform *t)
	Constructor. More...
void	SHTransformTxyz (double tx, double ty, double tz, TSHTransform *t)
	Constructor. More...
void	SHTransformVarTxyz (unsigned int x, unsigned int y, unsigned int z, TSHTransform *t)
	Constructor. More...
void	SHTransformVarDisplacementAlongVector (double *v, unsigned int vID, TSHTransform *t)
	Constructor. More...
void	SHTransformRx (double rx, TSHTransform *t)
	Constructor. More...
void	SHTransformVarRx (unsigned int x, TSHTransform *t)
	Constructor. More...
void	SHTransformRy (double ry, TSHTransform *t)
	Constructor. More...
void	SHTransformVarRy (unsigned int y, TSHTransform *t)
	Constructor. More...
void	SHTransformRz (double rz, TSHTransform *t)
	Constructor. More...
void	SHTransformVarRz (unsigned int z, TSHTransform *t)
	Constructor. More...
void	SHTransformCreate (unsigned int dof_r3, double v, TSHTransform *t)
	Constructor. More...
void	SHTransformVarCreate (unsigned int dof_r3, unsigned int v, TSHTransform *t)
	Constructor. More...
Tequation *	SHTransformGetElement (unsigned int i, unsigned int j, TSHTransform *t)
	Gets an element in a homogeneous transform. More...
void	SHTransformProduct (TSHTransform *t1, TSHTransform *t2, TSHTransform *t3)
	Product of two symbolic homogeneous transforms. More...
void	SHTransformPreCtProduct (THTransform *t1, TSHTransform *t2, TSHTransform *t3)
	Product of a constant and a symbolic homogeneous transforms. More...
void	SHTransformPostCtProduct (TSHTransform *t1, THTransform *t2, TSHTransform *t3)
	Product of a symbolic and a constant homogeneous transforms. More...
void	SHTransformAdd (TSHTransform *t1, TSHTransform *t2, TSHTransform *t3)
	Addition of two homogeneous transforms. More...
void	SHTransformInverse (TSHTransform *t, TSHTransform *ti)
	Inverse of a homogeneous transform. More...
void	SHTransformTranspose (TSHTransform *t, TSHTransform *tt)
	Transpose of a homogeneous transform. More...
void	SHTransformApply (double *p_in, Tequation *p_out, TSHTransform *t)
	Multiply a symbolic homogeneous transform and a vector. More...
void	SHTransformApplyRot (double *p_in, Tequation *p_out, TSHTransform *t)
	Multiply the rotation part of the homogeneous transform and a vector. More...
void	SHTransformEvaluate (double *varValues, THTransform *tc, TSHTransform *t)
	Evaluates a symbolic homogeneous transform. More...
void	SHTransformPrint (FILE *f, char **varNames, TSHTransform *t)
	Prints the a homogeneous transform to a file. More...
void	SHTransformDelete (TSHTransform *t)
	Destructor. More...

Typedef Documentation

typedef Tequation*** TSHTransform

A 4x4 matrix representing a homogenous matrix in R^3.

See Also

shtransform.h, shtransform.c

Definition at line 37 of file shtransform.h.

Function Documentation

void SHTransformIdentity

(

TSHTransform *

t

)

Initializes a homogeneous transform with the identity matrix.

Parameters

t	The matrix to initialize.

Definition at line 43 of file shtransform.c.

References AXIS_H, SetEquationValue(), and SHTransformInit().

Referenced by SHTransformInverse(), SHTransformRx(), SHTransformRy(), SHTransformRz(), SHTransformTx(), SHTransformTxyz(), SHTransformTy(), SHTransformTz(), SHTransformVarDisplacementAlongVector(), SHTransformVarTx(), SHTransformVarTxyz(), SHTransformVarTy(), and SHTransformVarTz().

void SHTransformFromEqVectors	(	TEqVector *	x,
		TEqVector *	y,
		TEqVector *	d,
		TSHTransform *	t
	)

Initializes a symbolic homogeneous transform from 3D symbolic vectors. No test is done to check the orthonomality of the give vectors. The caller must take care of this.

The third column of the matrix is computed as the cross product of x and y.

Parameters

x	The first column of the symbolic transform.
y	The second column of the symbolic transform.
d	The fourth column of the symbolic transform.
t	The matrix to initialize.

Definition at line 53 of file shtransform.c.

References AXIS_H, AXIS_X, AXIS_Y, AXIS_Z, CopyEquation(), CrossProductEqVectors(), DeleteEqVector(), DIM_SP, GetEqVectorElement(), InitEquation(), NEW, and SetEquationValue().

void SHTransformCopy	(	TSHTransform *	t_dst,
		TSHTransform *	t_org
	)

Initializes a homogeneous transform from another transform.

Parameters

t_dst	The matrix to initialize.
t_org	The matrix from where to copy.

Definition at line 90 of file shtransform.c.

References CopyEquation(), DIM_SP, and NEW.

Referenced by SHTransformAdd(), SHTransformPostCtProduct(), SHTransformPreCtProduct(), SHTransformProduct(), and SHTransformTranspose().

void SHTransformTx	(	double	tx,
		TSHTransform *	t
	)

Initializes a symbolic homogeneous transform as a constant translation along X.

Parameters

tx	The constant displacement along X.
t	The matrix to initialize.

Definition at line 107 of file shtransform.c.

References AXIS_H, AXIS_X, SetEquationValue(), and SHTransformIdentity().

Referenced by SHTransformCreate().

void SHTransformVarTx	(	unsigned int	x,
		TSHTransform *	t
	)

Initializes a homogeneous transform as a variable translation along X.

Parameters

x	The variable displacement along X.
t	The matrix to initialize.

Definition at line 113 of file shtransform.c.

References AddMonomial(), AddVariable2Monomial(), AXIS_H, AXIS_X, DeleteMonomial(), InitMonomial(), NFUN, and SHTransformIdentity().

Referenced by SHTransformVarCreate().

void SHTransformTy	(	double	ty,
		TSHTransform *	t
	)

Initializes a symbolic homogeneous transform as a constant translation along Y.

Parameters

ty	The displacement along Y.
t	The matrix to initialize.

Definition at line 125 of file shtransform.c.

References AXIS_H, AXIS_Y, SetEquationValue(), and SHTransformIdentity().

Referenced by SHTransformCreate().

void SHTransformVarTy	(	unsigned int	y,
		TSHTransform *	t
	)

Initializes a symbolic homogeneous transform as a variable translation along Y.

Parameters

y	The variable displacement along Y.
t	The matrix to initialize.

Definition at line 131 of file shtransform.c.

References AddMonomial(), AddVariable2Monomial(), AXIS_H, AXIS_Y, DeleteMonomial(), InitMonomial(), NFUN, and SHTransformIdentity().

Referenced by SHTransformVarCreate().

void SHTransformTz	(	double	tz,
		TSHTransform *	t
	)

Initializes a homogeneous transform as a constant translation along Z.

Parameters

tz	The constant displacement along Z.
t	The matrix to initialize.

Definition at line 143 of file shtransform.c.

References AXIS_H, AXIS_Z, SetEquationValue(), and SHTransformIdentity().

Referenced by SHTransformCreate().

void SHTransformVarTz	(	unsigned int	z,
		TSHTransform *	t
	)

Initializes a homogeneous transform as a variable translation along Z.

Parameters

z	The variable displacement along Z.
t	The matrix to initialize.

Definition at line 149 of file shtransform.c.

References AddMonomial(), AddVariable2Monomial(), AXIS_H, AXIS_Z, DeleteMonomial(), InitMonomial(), NFUN, and SHTransformIdentity().

Referenced by SHTransformVarCreate().

void SHTransformTxyz	(	double	tx,
		double	ty,
		double	tz,
		TSHTransform *	t
	)

Initializes a homogeneous transform as a constant translation.

Parameters

tx	The constant displacement along X.
ty	The constant displacement along Y.
tz	The constant displacement along Z.
t	The matrix to initialize.

Definition at line 161 of file shtransform.c.

References AXIS_H, AXIS_X, AXIS_Y, AXIS_Z, SetEquationValue(), and SHTransformIdentity().

void SHTransformVarTxyz	(	unsigned int	x,
		unsigned int	y,
		unsigned int	z,
		TSHTransform *	t
	)

Initializes a homogeneous transform as a variable translation.

Parameters

x	The variable displacement along X.
y	The variable displacement along Y.
z	The variable displacement along Z.
t	The matrix to initialize.

Definition at line 169 of file shtransform.c.

References AddMonomial(), AddVariable2Monomial(), AXIS_H, AXIS_X, AXIS_Y, AXIS_Z, DeleteMonomial(), InitMonomial(), NFUN, ResetMonomial(), and SHTransformIdentity().

void SHTransformVarDisplacementAlongVector	(	double *	v,
		unsigned int	vID,
		TSHTransform *	t
	)

Initializes a homogeneous transform as a scaled variable translation. This is basically used define a scaled displacements along a given vector.

Parameters

v	The vector with the scale factors. The vector definig the translation direction.
vID	The variable displacement along the vector.
t	The matrix to initialize.

Definition at line 191 of file shtransform.c.

References AddCt2Monomial(), AddMonomial(), AddVariable2Monomial(), AXIS_H, AXIS_X, AXIS_Y, AXIS_Z, DeleteMonomial(), InitMonomial(), NFUN, ResetMonomial(), and SHTransformIdentity().

void SHTransformRx	(	double	rx,
		TSHTransform *	t
	)

Initializes a homogeneous transform as a constant rotation about X.

Parameters

rx	The constant rotation about X in radiants.
t	The matrix to initialize.

Definition at line 215 of file shtransform.c.

References AXIS_Y, AXIS_Z, SetEquationValue(), and SHTransformIdentity().

Referenced by SHTransformCreate().

void SHTransformVarRx	(	unsigned int	x,
		TSHTransform *	t
	)

Initializes a homogeneous transform as a constant rotation about X.

Parameters

x	The variable rotation about X.
t	The matrix to initialize.

Definition at line 231 of file shtransform.c.

References AddCt2Monomial(), AddMonomial(), AddVariable2Monomial(), AXIS_H, AXIS_X, AXIS_Y, AXIS_Z, COSV, DeleteMonomial(), InitMonomial(), SetEquationValue(), SHTransformInit(), and SINV.

Referenced by SHTransformVarCreate().

void SHTransformRy	(	double	ry,
		TSHTransform *	t
	)

Initializes a homogeneous transform as a constant rotation about Y.

Parameters

ry	The constant rotation about Y in radiants.
t	The matrix to initialize.

Definition at line 256 of file shtransform.c.

References AXIS_X, AXIS_Z, SetEquationValue(), and SHTransformIdentity().

Referenced by SHTransformCreate().

void SHTransformVarRy	(	unsigned int	y,
		TSHTransform *	t
	)

Initializes a homogeneous transform as a constant rotation about Y.

Parameters

y	The variable rotation about Y.
t	The matrix to initialize.

Definition at line 272 of file shtransform.c.

References AddCt2Monomial(), AddMonomial(), AddVariable2Monomial(), AXIS_H, AXIS_X, AXIS_Y, AXIS_Z, COSV, DeleteMonomial(), InitMonomial(), SetEquationValue(), SHTransformInit(), and SINV.

Referenced by SHTransformVarCreate().

void SHTransformRz	(	double	rz,
		TSHTransform *	t
	)

Initializes a homogeneous transform as a constant rotation about Z.

Parameters

rz	The constant rotation about X in radiants.
t	The matrix to initialize.

Definition at line 297 of file shtransform.c.

References AXIS_X, AXIS_Y, SetEquationValue(), and SHTransformIdentity().

Referenced by SHTransformCreate().

void SHTransformVarRz	(	unsigned int	z,
		TSHTransform *	t
	)

Initializes a homogeneous transform as a constant rotation about Z.

Parameters

z	The variable rotation about Z.
t	The matrix to initialize.

Definition at line 313 of file shtransform.c.

References AddCt2Monomial(), AddMonomial(), AddVariable2Monomial(), AXIS_H, AXIS_X, AXIS_Y, AXIS_Z, COSV, DeleteMonomial(), InitMonomial(), SetEquationValue(), SHTransformInit(), and SINV.

Referenced by SHTransformVarCreate().

void SHTransformCreate	(	unsigned int	dof_r3,
		double	v,
		TSHTransform *	t
	)

Initializes a homogeneous transform as xonstant translation/rotation in a given degree of freedom.

Parameters

dof_r3	The degree of freedom: TX, TY, TZ, RX, RY, RZ.
v	The constant translation or rotation (in radiants) for the selected degree of freedom.
t	The matrix to initialize.

Definition at line 338 of file shtransform.c.

References RX, RY, RZ, SHTransformRx(), SHTransformRy(), SHTransformRz(), SHTransformTx(), SHTransformTy(), SHTransformTz(), TX, TY, and TZ.

void SHTransformVarCreate	(	unsigned int	dof_r3,
		unsigned int	v,
		TSHTransform *	t
	)

Initializes a homogeneous transform as variable translation/rotation in a given degree of freedom.

Parameters

dof_r3	The degree of freedom: TX, TY, TZ, RX, RY, RZ.
v	The variable translation or rotation (in radiants) for the selected degree of freedom.
t	The matrix to initialize.

Definition at line 363 of file shtransform.c.

References RX, RY, RZ, SHTransformVarRx(), SHTransformVarRy(), SHTransformVarRz(), SHTransformVarTx(), SHTransformVarTy(), SHTransformVarTz(), TX, TY, and TZ.

Tequation* SHTransformGetElement	(	unsigned int	i,
		unsigned int	j,
		TSHTransform *	t
	)

Gets an element from a homogeneous transform.

Parameters

i	Row of the element to get.
j	Column of the element to get.
t	The matrix to update.

Returns

The element at row i column j of homogeneous transform t.

Definition at line 388 of file shtransform.c.

References AXIS_H, and Error().

void SHTransformProduct	(	TSHTransform *	t1,
		TSHTransform *	t2,
		TSHTransform *	t3
	)

Product of two homogeneous transforms.

Parameters

t1	The first transform to operate.
t2	The second transform to operate.
t3	The result.

Definition at line 398 of file shtransform.c.

References AccumulateEquations(), DeleteEquation(), DIM_SP, ProductEquations(), SHTransformCopy(), SHTransformDelete(), and SHTransformInit().

Referenced by SHTransformInverse().

void SHTransformPreCtProduct	(	THTransform *	t1,
		TSHTransform *	t2,
		TSHTransform *	t3
	)

Product of constnat and a symbolic homogeneous transforms.

Parameters

t1	The constant transform to operate.
t2	The symbolic transform to operate.
t3	The result.

Definition at line 424 of file shtransform.c.

References AccumulateEquations(), DIM_SP, HTransformGetElement(), SHTransformCopy(), SHTransformDelete(), and SHTransformInit().

void SHTransformPostCtProduct	(	TSHTransform *	t1,
		THTransform *	t2,
		TSHTransform *	t3
	)

Product of a symbolic and a constant homogeneous transforms.

Parameters

t1	The symbolic transform to operate.
t2	The constant transform to operate.
t3	The result.

Definition at line 448 of file shtransform.c.

References AccumulateEquations(), DIM_SP, HTransformGetElement(), SHTransformCopy(), SHTransformDelete(), and SHTransformInit().

void SHTransformAdd	(	TSHTransform *	t1,
		TSHTransform *	t2,
		TSHTransform *	t3
	)

Addition of two homogeneous transforms.

Parameters

t1	The first transform to operate.
t2	The second transform to operate.
t3	The result.

Definition at line 472 of file shtransform.c.

References AccumulateEquations(), DIM_SP, SHTransformCopy(), SHTransformDelete(), and SHTransformInit().

void SHTransformInverse	(	TSHTransform *	t,
		TSHTransform *	ti
	)

Addition of a homogeneous transform.

Parameters

t	The transform to invert.
ti	The result transform with the inverse of the output.

Definition at line 492 of file shtransform.c.

References AccumulateEquations(), AXIS_H, CopyEquation(), DeleteEquation(), DIM_SP, SetEquationValue(), SHTransformDelete(), SHTransformIdentity(), SHTransformInit(), and SHTransformProduct().

void SHTransformTranspose	(	TSHTransform *	t,
		TSHTransform *	tt
	)

Transpose of a homogeneous transform. Note that, in general the transpose of a homogeneous transform is not a homogeneous transform.

Parameters

t	The transform to transpose.
tt	The result with the transposed matrix.

Definition at line 521 of file shtransform.c.

References CopyEquation(), DIM_SP, NEW, SHTransformCopy(), and SHTransformDelete().

void SHTransformApply	(	double *	p_in,
		Tequation *	p_out,
		TSHTransform *	t
	)

Multiply a symbolic homogeneous transform and a vector.

Parameters

p_in	A input vector in R^3.
p_out	The resulting 3 equation vector.
t	The matrix to apply to the input vector.

Definition at line 543 of file shtransform.c.

References AccumulateEquations(), AXIS_H, CopyEquation(), and DIM_SP.

void SHTransformApplyRot	(	double *	p_in,
		Tequation *	p_out,
		TSHTransform *	t
	)

Applies the rotation encoded in a homogeneous transform to a vector (i.e., rotates the vector).

Parameters

p_in	A input vector in R^3.
p_out	The resulting vector (3 equations).
t	The matrix with the rotation to apply to the input vector.

Definition at line 556 of file shtransform.c.

References AccumulateEquations(), DIM_SP, and InitEquation().

void SHTransformEvaluate	(	double *	varValues,
		THTransform *	tc,
		TSHTransform *	t
	)

Evaluates a symbolic homogeneus transform to produce a constant homogeneous transform.

Parameters

varValues	Values for the variables involved in the symbolic homogeneous transform.
tc	The output constant transform.
t	The input symbolic transform.

Definition at line 569 of file shtransform.c.

References DIM_SP, EvaluateWholeEquation(), HTransformIdentity(), and HTransformSetElement().

void SHTransformPrint	(	FILE *	f,
		char **	varNames,
		TSHTransform *	t
	)

Prints the a homogeneous transform to a stream that can be stdtout.

Parameters

f	The file where to print.
varNames	Name of the variables involved int the symbolic transform. Can be NULL and then generic names are used.
t	The matrix to print.

Definition at line 586 of file shtransform.c.

References DIM_SP, and PrintMonomials().

void SHTransformDelete

(

TSHTransform *

t

)

Deletes the information stored in the TSHTransform and frees the allocated memory space.

Parameters

t	The transform to delete.

Definition at line 600 of file shtransform.c.

References DeleteEquation(), and DIM_SP.

Referenced by SHTransformAdd(), SHTransformInverse(), SHTransformPostCtProduct(), SHTransformPreCtProduct(), SHTransformProduct(), and SHTransformTranspose().