Implements integrators for the kinematics, in terms or rotations and translations. More...

#include <Eigen/SVD>
#include <state-observation/api.h>
#include <state-observation/tools/definitions.hpp>
#include <state-observation/tools/miscellaneous-algorithms.hpp>
#include <state-observation/tools/probability-law-simulation.hpp>
#include <state-observation/tools/rigid-body-kinematics.hxx>

Include dependency graph for rigid-body-kinematics.hpp:

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Classes
struct	stateObservation::kine::indexes< rotationType >

struct	stateObservation::kine::indexes< rotationVector >

struct	stateObservation::kine::indexes< quaternion >

class	stateObservation::kine::Orientation

class	stateObservation::kine::internal::KinematicsInternal< T >

struct	stateObservation::kine::internal::KinematicsInternal< T >::Flags

struct	stateObservation::kine::Kinematics
	Class facilitating the manipulation of the kinematics of a frame within another and the associated operations. More...

struct	stateObservation::kine::LocalKinematics
	Class facilitating the manipulation of the local kinematics of a frame within another and the associated operations. More...

Namespaces
	stateObservation

	stateObservation::kine

	stateObservation::kine::internal

Enumerations
enum	stateObservation::kine::rotationType { stateObservation::kine::matrix = 0, stateObservation::kine::rotationVector = 1, stateObservation::kine::quaternion = 2, stateObservation::kine::angleaxis = 3 }

Functions
void	stateObservation::kine::integrateKinematics (Vector3 &position, const Vector3 &velocity, double dt)

void	stateObservation::kine::integrateKinematics (Vector3 &position, Vector3 &velocity, const Vector3 &acceleration, double dt)

void	stateObservation::kine::integrateKinematics (Matrix3 &orientation, const Vector3 &rotationVelocity, double dt)

void	stateObservation::kine::integrateKinematics (Matrix3 &orientation, Vector3 &rotationVelocity, const Vector3 &rotationAcceleration, double dt)

void	stateObservation::kine::integrateKinematics (Quaternion &orientation, const Vector3 &rotationVelocity, double dt)

void	stateObservation::kine::integrateKinematics (Quaternion &orientation, Vector3 &rotationVelocity, const Vector3 &rotationAcceleration, double dt)

void	stateObservation::kine::integrateKinematics (Vector3 &position, Vector3 &velocity, const Vector3 &acceleration, Matrix3 &orientation, Vector3 &rotationVelocity, const Vector3 &rotationAcceleration, double dt)

void	stateObservation::kine::integrateKinematics (Vector3 &position, Vector3 &velocity, const Vector3 &acceleration, Quaternion &orientation, Vector3 &rotationVelocity, const Vector3 &rotationAcceleration, double dt)

void	stateObservation::kine::integrateKinematics (Vector3 &position, const Vector3 &velocity, Matrix3 &orientation, const Vector3 &rotationVelocity, double dt)
	integrates the postition/orientation given the velocities More...

void	stateObservation::kine::integrateKinematics (Vector3 &position, const Vector3 &velocity, Quaternion &orientation, const Vector3 &rotationVelocity, double dt)
	integrates the postition/orientation given the velocities More...

Vector	stateObservation::kine::regulateRotationVector (const Vector3 &v)

AngleAxis	stateObservation::kine::rotationVectorToAngleAxis (const Vector3 &v)
	Transforms the rotation vector into angle axis. More...

Matrix3	stateObservation::kine::rotationVectorToRotationMatrix (const Vector3 &v)
	Transforms the rotation vector into rotation matrix. More...

Quaternion	stateObservation::kine::rotationVectorToQuaternion (const Vector3 &v)
	Transforms the rotation vector into quaternion. More...

Vector3	stateObservation::kine::rotationMatrixToRotationVector (const Matrix3 &R)
	Transforms the rotation matrix into rotation vector. More...

Vector3	stateObservation::kine::quaternionToRotationVector (const Quaternion &q)
	Tranbsform a quaternion into rotation vector. More...

Vector3	stateObservation::kine::quaternionToRotationVector (const Vector4 &v)
	Transforms a quaternion into rotation vector. More...

double	stateObservation::kine::scalarComponent (const Quaternion &q)
	scalar component of a quaternion More...

Vector3	stateObservation::kine::vectorComponent (const Quaternion &q)
	vector part of the quaternion More...

Vector3	stateObservation::kine::rotationMatrixToRollPitchYaw (const Matrix3 &R, Vector3 &v)

Vector3	stateObservation::kine::rotationMatrixToRollPitchYaw (const Matrix3 &R)

Matrix3	stateObservation::kine::rollPitchYawToRotationMatrix (double roll, double pitch, double yaw)

Matrix3	stateObservation::kine::rollPitchYawToRotationMatrix (const Vector3 &rpy)

Quaternion	stateObservation::kine::rollPitchYawToQuaternion (double roll, double pitch, double yaw)

Quaternion	stateObservation::kine::rollPitchYawToQuaternion (const Vector3 &rpy)

Matrix3	stateObservation::kine::orthogonalizeRotationMatrix (const Matrix3 &M)
	Projects the Matrix to so(3) More...

Matrix3	stateObservation::kine::skewSymmetric (const Vector3 &v, Matrix3 &R)
	transform a 3d vector into a skew symmetric 3x3 matrix More...

Matrix3	stateObservation::kine::skewSymmetric (const Vector3 &v)
	transform a 3d vector into a skew symmetric 3x3 matrix More...

Matrix3	stateObservation::kine::skewSymmetric2 (const Vector3 &v, Matrix3 &R)
	transform a 3d vector into a squared skew symmetric 3x3 matrix More...

Matrix3	stateObservation::kine::skewSymmetric2 (const Vector3 &v)
	transform a 3d vector into a squared skew symmetric 3x3 matrix More...

Vector6	stateObservation::kine::homogeneousMatrixToVector6 (const Matrix4 &M)
	transforms a homogeneous matrix into 6d vector (position theta mu) More...

Matrix4	stateObservation::kine::vector6ToHomogeneousMatrix (const Vector6 &v)
	transforms a 6d vector (position theta mu) into a homogeneous matrix More...

Matrix3	stateObservation::kine::twoVectorsToRotationMatrix (const Vector3 &v1, const Vector3 Rv1)
	Builds the smallest angle matrix allowing to get from a NORMALIZED vector v1 to its imahe Rv1 This is based on Rodrigues formula. More...

bool	stateObservation::kine::isPureYaw (const Matrix3 &R)
	checks if this matrix is a pure yaw matrix or not More...

Vector3	stateObservation::kine::getInvariantHorizontalVector (const Matrix3 &R)
	Gets a vector that remains horizontal with this rotation. This vector is NOT normalized. More...

Vector3	stateObservation::kine::getInvariantOrthogonalVector (const Matrix3 &Rhat, const Vector3 &Rtez)
	Gets a vector \(v\) that is orthogonal to \(e_z\) and such that \(\hat{R}^T e_z\) is orthogonal to the tilt \(R^T e_z\). This vector is NOT normalized. More...

Matrix3	stateObservation::kine::mergeTiltWithYaw (const Vector3 &Rtez, const Matrix3 &R2, const Vector3 &v=Vector3::UnitX()) noexcept(false)
	Merge the roll and pitch from the tilt (R^T e_z) with the yaw from a rotation matrix (minimizes the deviation of the v vector) More...

Matrix3	stateObservation::kine::mergeRoll1Pitch1WithYaw2 (const Matrix3 &R1, const Matrix3 &R2, const Vector3 &v=Vector3::UnitX())
	Merge the roll and pitch with the yaw from a rotation matrix (minimizes the deviation of the v vector) More...

Matrix3	stateObservation::kine::mergeTiltWithYawAxisAgnostic (const Vector3 &Rtez, const Matrix3 &R2)
	Merge the roll and pitch from the tilt (R^T e_z) with the yaw from a rotation matrix (minimizes the deviation of the v vector) More...

Matrix3	stateObservation::kine::mergeRoll1Pitch1WithYaw2AxisAgnostic (const Matrix3 &R1, const Matrix3 &R2)
	Merge the roll and pitch with the yaw from a rotation matrix with optimal reference vector. More...

double	stateObservation::kine::rotationMatrixToAngle (const Matrix3 &rotation, const Vector3 &axis, const Vector3 &v)
	take 3x3 matrix represeting a rotation and gives the angle that vector v turns around the axis with this rotation More...

double	stateObservation::kine::rotationMatrixToYaw (const Matrix3 &rotation, const Vector2 &v)
	take 3x3 matrix represeting a rotation and gives the angle that vector v turns around the upward vertical axis with this rotation More...

double	stateObservation::kine::rotationMatrixToYaw (const Matrix3 &rotation)
	take 3x3 matrix represeting a rotation and gives the yaw angle from roll pitch yaw representation More...

double	stateObservation::kine::rotationMatrixToYawAxisAgnostic (const Matrix3 &rotation)
	take 3x3 matrix represeting a rotation and gives a corresponding angle around upward vertical axis More...

Quaternion	stateObservation::kine::zeroRotationQuaternion ()
	Get the Identity Quaternion. More...

Quaternion	stateObservation::kine::randomRotationQuaternion ()
	Get a uniformly random Quaternion. More...

double	stateObservation::kine::randomAngle ()
	get a randomAngle between -pi and pu More...

bool	stateObservation::kine::isRotationMatrix (const Matrix3 &, double precision=2 *cst::epsilon1)
	Checks if it is a rotation matrix (right-hand orthonormal) or not. More...

void	stateObservation::kine::fixedPointRotationToTranslation (const Matrix3 &R, const Vector3 &rotationVelocity, const Vector3 &rotationAcceleration, const Vector3 &fixedPoint, Vector3 &outputTranslation, Vector3 &outputLinearVelocity, Vector3 &outputLinearAcceleration)
	transforms a rotation into translation given a constraint of a fixed point More...

Vector3	stateObservation::kine::derivateRotationFD (const Quaternion &q1, const Quaternion &q2, double dt)
	derivates a quaternion using finite difference to get a angular velocity vector More...

Vector3	stateObservation::kine::derivateRotationFD (const Vector3 &o1, const Vector3 &o2, double dt)
	derivates a rotation vector using finite difference to get a angular velocity vector More...

Vector6	stateObservation::kine::derivateHomogeneousMatrixFD (const Matrix4 &m1, const Matrix4 &m2, double dt)

Vector6	stateObservation::kine::derivatePoseThetaUFD (const Vector6 &v1, const Vector6 &v2, double dt)

void	stateObservation::kine::derivateRotationMultiplicative (const Vector3 &deltaR, Matrix3 &dRdR, Matrix3 &dRddeltaR)

Matrix3	stateObservation::kine::derivateRtvMultiplicative (const Matrix3 &R, const Vector3 &v)

IndexedVectorArray	stateObservation::kine::reconstructStateTrajectory (const IndexedVectorArray &positionOrientation, double dt)

Vector	stateObservation::kine::invertState (const Vector &state)

Matrix4	stateObservation::kine::invertHomoMatrix (const Matrix4 &m)

std::ostream &	operator<< (std::ostream &os, const stateObservation::kine::Kinematics &k)

std::ostream &	operator<< (std::ostream &os, const stateObservation::kine::LocalKinematics &k)

Variables
constexpr double	stateObservation::kine::quatNormTol = 1e-6
	relative tolereance to the square of quaternion norm. More...

Detailed Description

Implements integrators for the kinematics, in terms or rotations and translations.

Author: Mehdi Benallegue

Date: 2013

Function Documentation

◆ operator<<() [1/2]

std::ostream& operator<<	(	std::ostream &	os,
		const stateObservation::kine::Kinematics &	k
	)

inline

◆ operator<<() [2/2]

std::ostream& operator<<	(	std::ostream &	os,
		const stateObservation::kine::LocalKinematics &	k
	)

inline

Classes

Namespaces

Enumerations

Functions

Variables

Detailed Description

Function Documentation

◆ operator<<() [1/2]

◆ operator<<() [2/2]