rcs.posemath
Class Posemath
java.lang.Object
rcs.posemath.Posemath
public class Posemath
extends java.lang.Object
| Method Summary |
|---|
static PM_CARTESIAN | add(PM_CARTESIAN v1, PM_CARTESIAN v2) |
static PmCartesian | add(PmCartesian v1, PmCartesian v2) |
static double[] | computeLineFitErrors(PM_LINE line, java.util.List<? extends PmCartesian> l) Compute an array of errors or the distance between each point in list l to line line. |
static PM_CARTESIAN | cross(PM_CARTESIAN v1, PM_CARTESIAN v2) |
static PM_CYLINDRICAL | cross(PM_CYLINDRICAL v1, PM_CYLINDRICAL v2) |
static double | disp(PM_CARTESIAN v1, PM_CARTESIAN v2) |
static PM_CARTESIAN | divide(PM_CARTESIAN v, double d) |
static PM_CYLINDRICAL | divide(PM_CYLINDRICAL c, double d) |
static PM_QUATERNION | divide(PM_QUATERNION q, double s) |
static PM_ROTATION_VECTOR | divide(PM_ROTATION_VECTOR r, double s) |
static double | dot(PM_CARTESIAN v1, PM_CARTESIAN v2) |
static double | dot(PM_CYLINDRICAL v1, PM_CYLINDRICAL v2) |
static double | dot(PmCartesian v1, PmCartesian v2) |
static PM_CIRCLE | fitCircle2D_XY(java.util.List<? extends PmCartesian> l) Ignores the z value in each element of the list and returns a circle fit with least-squares error to x,y points |
static PM_LINE | fitLine(java.util.List<? extends PmCartesian> l) Ignores the z value in each element of the list and returns a line fit with least-squares error to x,y points |
static PM_CARTESIAN | intersection(PM_LINE l1, PM_LINE l2) |
static PM_CARTESIAN | inv(PM_CARTESIAN v) |
static PM_CYLINDRICAL | inv(PM_CYLINDRICAL v) |
static PM_HOMOGENEOUS | inv(PM_HOMOGENEOUS h) |
static PM_POSE | inv(PM_POSE p) |
static PM_QUATERNION | inv(PM_QUATERNION q1) |
static PM_XYA | inv(PM_XYA p) |
static boolean | IS_FUZZ(double a, double fuzz) |
static boolean | isNorm(PM_CARTESIAN v) |
static boolean | isNorm(PM_CYLINDRICAL v) |
static boolean | isNorm(PM_QUATERNION q1) |
static boolean | isNorm(PM_ROTATION_MATRIX m) |
static boolean | isNorm(PM_ROTATION_VECTOR r) |
static double | mag(PM_CARTESIAN v) |
static double | mag(PM_CYLINDRICAL v1) |
static double | mag(PM_QUATERNION q) |
static double | mag(PmCartesian v) |
static void | main(java.lang.String[] args) |
static PM_CARTESIAN | multiply(double d, PM_CARTESIAN v) |
static PM_CYLINDRICAL | multiply(double d, PM_CYLINDRICAL c) |
static PM_QUATERNION | multiply(double s, PM_QUATERNION q) |
static PmRotationVector | multiply(double s, PM_ROTATION_VECTOR r) |
static PmCartesian | multiply(double d, PmCartesian v) |
static PM_CARTESIAN | multiply(PM_CARTESIAN v, double d) |
static PM_CYLINDRICAL | multiply(PM_CYLINDRICAL c, double d) |
static PM_CARTESIAN | multiply(PM_POSE p1, PM_CARTESIAN v2) |
static PM_POSE | multiply(PM_POSE p1, PM_POSE p2) |
static PM_QUATERNION | multiply(PM_QUATERNION q, double s) |
static PM_CARTESIAN | multiply(PM_QUATERNION q1, PM_CARTESIAN v2) |
static PM_QUATERNION | multiply(PM_QUATERNION q1, PM_QUATERNION q2) |
static PM_CARTESIAN | multiply(PM_ROTATION_MATRIX m, PM_CARTESIAN v) |
static PM_ROTATION_MATRIX | multiply(PM_ROTATION_MATRIX m1, PM_ROTATION_MATRIX m2) |
static PM_ROTATION_VECTOR | multiply(PM_ROTATION_VECTOR r, double s) |
static PM_XYA | multiply(PM_XYA p1, PM_XYA p2) |
static PmCartesian | multiply(PmCartesian v, double d) |
static PM_CARTESIAN | neg(PM_CARTESIAN v) |
static PM_CYLINDRICAL | neg(PM_CYLINDRICAL v) |
static PM_CARTESIAN | norm(PM_CARTESIAN v) |
static PM_CYLINDRICAL | norm(PM_CYLINDRICAL v) |
static PM_QUATERNION | norm(PM_QUATERNION q1) |
static PM_ROTATION_VECTOR | norm(PM_ROTATION_VECTOR r) |
static int | pmAxisAngleQuatConvert(int axis, double a, PmQuaternion q) Store a quaternion based on a single rotation about an axis |
static int | pmCartCartAdd(PmCartesian v1, PmCartesian v2, PmCartesian vout) |
static boolean | pmCartCartCompare(PmCartesian v1, PmCartesian v2) |
static int | pmCartCartCross(PmCartesian v1, PmCartesian v2, PmCartesian vout) |
static double | pmCartCartDisp(PmCartesian v1, PmCartesian v2) |
static double | pmCartCartDot(PmCartesian v1, PmCartesian v2) |
static int | pmCartCartProj(PmCartesian v1, PmCartesian v2, PmCartesian vout) |
static int | pmCartCartSub(PmCartesian v1, PmCartesian v2, PmCartesian vout) |
static int | pmCartCylConvert(PmCartesian v, PmCylindrical c) |
static int | pmCartInv(PmCartesian v1, PmCartesian vout) |
static boolean | pmCartIsNorm(PmCartesian v) |
static double | pmCartMag(PmCartesian v) |
static int | pmCartNeg(PmCartesian v1, PmCartesian vout) |
static int | pmCartNorm(PmCartesian v, PmCartesian vout) |
static int | pmCartPlaneProj(PmCartesian v, PmCartesian normal, PmCartesian vout) |
static int | pmCartScalDiv(PmCartesian v1, double d, PmCartesian vout) |
static int | pmCartScalMult(PmCartesian v1, double d, PmCartesian vout) |
static int | pmCartSphConvert(PmCartesian v, PmSpherical s) Convert a PmCartesian to PmSpherical |
static int | pmCircleInit(PmCircle circle, PmPose start, PmPose end, PmCartesian center, PmCartesian normal, int turn) |
static int | pmCirclePoint(PmCircle circle, double angle, PmPose point) |
static boolean | pmClose(double a, double b, double eps) Determine if a within eps of b. |
static int | pmCylCartConvert(PmCylindrical c, PmCartesian v) Convert cylindrical to cartesian. |
static int | pmCylCylAdd(PmCylindrical c1, PmCylindrical c2, PmCylindrical cout) |
static boolean | pmCylCylCompare(PmCylindrical v1, PmCylindrical v2) |
static int | pmCylCylCross(PmCylindrical c1, PmCylindrical c2, PmCylindrical cout) |
static double | pmCylCylDot(PmCylindrical c1, PmCylindrical c2) |
static int | pmCylCylSub(PmCylindrical c1, PmCylindrical c2, PmCylindrical cout) |
static int | pmCylInv(PmCylindrical c, PmCylindrical cout) |
static boolean | pmCylIsNorm(PmCylindrical v) |
static double | pmCylMag(PmCylindrical c) |
static int | pmCylNeg(PmCylindrical v1, PmCylindrical vout) |
static int | pmCylNorm(PmCylindrical v, PmCylindrical vout) |
static int | pmCylScalDiv(PmCylindrical v1, double d, PmCylindrical vout) |
static int | pmCylScalMult(PmCylindrical v1, double d, PmCylindrical vout) |
static int | pmCylSphConvert(PmCylindrical c, PmSpherical s) Convert a cylindrical to a spherical |
static int | pmHomInv(PmHomogeneous h1, PmHomogeneous h2) |
static int | pmHomPoseConvert(PmHomogeneous h, PmPose p) |
static int | pmLineInit(PmLine line, PmPose start, PmPose end) |
static int | pmLinePoint(PmLine line, double len, PmPose point) |
static int | pmMatCartMult(PmRotationMatrix m, PmCartesian v, PmCartesian vout) |
static int | pmMatInv(PmRotationMatrix m, PmRotationMatrix mout) |
static boolean | pmMatIsNorm(PmRotationMatrix m) |
static int | pmMatMatMult(PmRotationMatrix m1, PmRotationMatrix m2, PmRotationMatrix mout) |
static int | pmMatNorm(PmRotationMatrix m, PmRotationMatrix mout) |
static int | pmMatQuatConvert(PmRotationMatrix m, PmQuaternion q) |
static int | pmMatRotConvert(PmRotationMatrix m, PmRotationVector r) |
static int | pmMatRpyConvert(PmRotationMatrix m, PmRpy rpy) |
static int | pmMatZyxConvert(PmRotationMatrix m, PmEulerZyx zyx) |
static int | pmMatZyzConvert(PmRotationMatrix m, PmEulerZyz zyz) |
static int | pmPoseCartMult(PmPose p1, PmCartesian v2, PmCartesian vout) |
static int | pmPoseHomConvert(PmPose p, PmHomogeneous h) |
static int | pmPoseInv(PmPose p1, PmPose p2) |
static boolean | pmPosePoseCompare(PmPose p1, PmPose p2) |
static int | pmPosePoseMult(PmPose p1, PmPose p2, PmPose pout) |
static PmQuaternion | pmQuatAxisAngleMult(PmQuaternion q, int axis, double angle) |
static int | pmQuatAxisAngleMult(PmQuaternion q, int axis, double angle, PmQuaternion pq) |
static int | pmQuatCartMult(PmQuaternion q1, PmCartesian v2, PmCartesian vout) |
static int | pmQuatInv(PmQuaternion q1, PmQuaternion qout) |
static boolean | pmQuatIsNorm(PmQuaternion q1) |
static double | pmQuatMag(PmQuaternion q) |
static int | pmQuatMatConvert(PmQuaternion q, PmRotationMatrix m) |
static int | pmQuatNorm(PmQuaternion q1, PmQuaternion qout) |
static boolean | pmQuatQuatCompare(PmQuaternion q1, PmQuaternion q2) |
static int | pmQuatQuatMult(PmQuaternion q1, PmQuaternion q2, PmQuaternion qout) |
static int | pmQuatRotConvert(PmQuaternion q, PmRotationVector r) Convert a quaternion to a rotation vector |
static int | pmQuatRpyConvert(PmQuaternion q, PmRpy rpy) |
static int | pmQuatScalDiv(PmQuaternion q, double s, PmQuaternion qout) |
static int | pmQuatScalMult(PmQuaternion q, double s, PmQuaternion qout) |
static int | pmQuatZyxConvert(PmQuaternion q, PmEulerZyx zyx) |
static int | pmQuatZyzConvert(PmQuaternion q, PmEulerZyz zyz) |
static boolean | pmRotIsNorm(PmRotationVector r) |
static int | pmRotMatConvert(PmRotationVector r, PmRotationMatrix m) Convert a rotation vector to a rotation matrix. |
static int | pmRotNorm(PmRotationVector r, PmRotationVector rout) |
static int | pmRotQuatConvert(PmRotationVector r, PmQuaternion q) Convert a rotation vector to a quaternion |
static int | pmRotScalDiv(PmRotationVector r, double s, PmRotationVector rout) |
static int | pmRotScalMult(PmRotationVector r, double s, PmRotationVector rout) |
static int | pmRpyMatConvert(PmRpy rpy, PmRotationMatrix m) |
static int | pmRpyQuatConvert(PmRpy rpy, PmQuaternion q) |
static int | pmRpyRotConvert(PmRpy rpy, PmRotationVector r) |
static int | pmRpyZyxConvert(PmRpy rpy, PmEulerZyx zyx) |
static int | pmRpyZyzConvert(PmRpy rpy, PmEulerZyz zyz) |
static int | pmSphCartConvert(PmSpherical s, PmCartesian v) Convert PmSherical to PmCartesian |
static int | pmSphCylConvert(PmSpherical s, PmCylindrical c) Convert a spherical to cylindrical |
static double | pmSq(double x) Square of x or x*x. |
static double | pmSqrt(double x) Square root function that adds some extra checks similiar to the C++ pmSqrt() primarily only exists for converting C++ apps. |
static int | pmZyxMatConvert(PmEulerZyx zyx, PmRotationMatrix m) |
static int | pmZyxQuatConvert(PmEulerZyx zyx, PmQuaternion q) |
static int | pmZyxRotConvert(PmEulerZyx zyx, PmRotationVector r) |
static int | pmZyxRpyConvert(PmEulerZyx zyx, PmRpy rpy) |
static int | pmZyxZyzConvert(PmEulerZyx zyx, PmEulerZyz zyz) |
static int | pmZyzMatConvert(PmEulerZyz zyz, PmRotationMatrix m) |
static int | pmZyzQuatConvert(PmEulerZyz zyz, PmQuaternion q) |
static int | pmZyzRotConvert(PmEulerZyz zyz, PmRotationVector r) |
static int | pmZyzRpyConvert(PmEulerZyz zyz, PmRpy rpy) |
static PM_CARTESIAN | point_on_line_segment(PM_CARTESIAN s, PM_CARTESIAN e, PM_CARTESIAN p) |
static PM_CARTESIAN | point_on_line(PM_CARTESIAN s, PM_CARTESIAN u, PM_CARTESIAN p) |
static PM_CARTESIAN | point_on_line(PM_LINE line, PM_CARTESIAN p) |
static PmCartesian | point_on_line(PM_LINE line, PmCartesian p) |
static PM_CARTESIAN | proj(PM_CARTESIAN v1, PM_CARTESIAN v2) |
static PM_CARTESIAN | subtract(PM_CARTESIAN v1, PM_CARTESIAN v2) |
static PmCartesian | subtract(PmCartesian v1, PmCartesian v2) |
static PM_CARTESIAN | toCart(PM_CYLINDRICAL v) Convert a cylindrical to a cartesian |
static PM_CARTESIAN | toCart(PM_SPHERICAL v) Convert PM_SPHERICAL to PM_CARTESIAN |
static PM_CYLINDRICAL | toCyl(PM_SPHERICAL s) Convert a spherical to cylindrical |
static PM_HOMOGENEOUS | toHom(PM_POSE p) |
static PM_ROTATION_MATRIX | toMat(PM_QUATERNION v) Convert a quaternion to a rotation matrix. |
static PM_ROTATION_MATRIX | toMat(PM_ROTATION_VECTOR v) Convert rotation vector to rotation matrix |
static PM_QUATERNION | toQuat(PM_EULER_ZYX v) |
static PM_QUATERNION | toQuat(PM_EULER_ZYZ v) |
static PM_QUATERNION | toQuat(PM_ROTATION_MATRIX m) |
static PM_QUATERNION | toQuat(PM_ROTATION_VECTOR v) Convert a rotation vector to a quaternion |
static PM_QUATERNION | toQuat(PM_RPY v) |
static PM_ROTATION_VECTOR | toRot(PM_QUATERNION v) Convert quaternion to a rotation vector |
static PM_RPY | toRpy(PM_QUATERNION v) |
static PM_SPHERICAL | toSph(PM_CARTESIAN v) Convert a PM_CARTESIAN to PM_SPHERICAL |
static PM_SPHERICAL | toSph(PM_CYLINDRICAL c) Convert a cylindrical to a spherical |
static PM_CARTESIAN | weightedAvg(PM_CARTESIAN c1, double s1, PM_CARTESIAN c2, double s2) Adds two PM_CARTESIANS and returns a weightedAvg ie. |
| Methods inherited from class java.lang.Object |
|---|
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
pmErrno
public static int pmErrno
PM_PRINT_ERROR
public static boolean PM_PRINT_ERROR
debug_on
public static boolean debug_on
CART_FUZZ
public static final double CART_FUZZ
See Also:
-
Constant Field Values
DOUBLECP_FUZZ
public static final double DOUBLECP_FUZZ
See Also:
-
Constant Field Values
DOUBLE_FUZZ
public static final double DOUBLE_FUZZ
See Also:
-
Constant Field Values
E_EPSILON
public static final double E_EPSILON
See Also:
-
Constant Field Values
PM_2_PI
public static final double PM_2_PI
See Also:
-
Constant Field Values
PM_DIV_ERR
public static final int PM_DIV_ERR
See Also:
-
Constant Field Values
PM_ERR
public static final int PM_ERR
See Also:
-
Constant Field Values
PM_IMPL_ERR
public static final int PM_IMPL_ERR
See Also:
-
Constant Field Values
PM_NORM_ERR
public static final int PM_NORM_ERR
See Also:
-
Constant Field Values
PM_PI
public static final double PM_PI
See Also:
-
Constant Field Values
PM_PI_2
public static final double PM_PI_2
See Also:
-
Constant Field Values
PM_PI_4
public static final double PM_PI_4
See Also:
-
Constant Field Values
QSIN_FUZZ
public static final double QSIN_FUZZ
See Also:
-
Constant Field Values
QS_FUZZ
public static final double QS_FUZZ
See Also:
-
Constant Field Values
Q_FUZZ
public static final double Q_FUZZ
See Also:
-
Constant Field Values
RPY_P_FUZZ
public static final double RPY_P_FUZZ
See Also:
-
Constant Field Values
RS_FUZZ
public static final double RS_FUZZ
See Also:
-
Constant Field Values
SINGULAR_EPSILON
public static final double SINGULAR_EPSILON
See Also:
-
Constant Field Values
SQRT_FUZZ
public static final double SQRT_FUZZ
See Also:
-
Constant Field Values
UNIT_QUAT_FUZZ
public static final double UNIT_QUAT_FUZZ
See Also:
-
Constant Field Values
UNIT_SC_FUZZ
public static final double UNIT_SC_FUZZ
See Also:
-
Constant Field Values
UNIT_VEC_FUZZ
public static final double UNIT_VEC_FUZZ
See Also:
-
Constant Field Values
V_FUZZ
public static final double V_FUZZ
See Also:
-
Constant Field Values
ZYX_Y_FUZZ
public static final double ZYX_Y_FUZZ
See Also:
-
Constant Field Values
ZYZ_Y_FUZZ
public static final double ZYZ_Y_FUZZ
See Also:
-
Constant Field Values
DBL_MAX
public static final double DBL_MAX
See Also:
-
Constant Field Values
PI
public static final double PI
See Also:
-
Constant Field Values
PI_2
public static final double PI_2
See Also:
-
Constant Field Values
PI_4
public static final double PI_4
See Also:
-
Constant Field Values
PM_X
public static final int PM_X
See Also:
-
Constant Field Values
PM_Y
public static final int PM_Y
See Also:
-
Constant Field Values
PM_Z
public static final int PM_Z
See Also:
-
Constant Field Values
Posemath
public Posemath()
fitLine
public static PM_LINE fitLine(java.util.List<? extends PmCartesian> l)
-
Ignores the z value in each element of the list and returns a line fit with least-squares error to x,y points
-
Parameters:
-
l - list of PmCartesian points to fit
Returns:
-
PM_LINE with start,end and unit vector of the line.
weightedAvg
public static PM_CARTESIAN weightedAvg(PM_CARTESIAN c1,
double s1,
PM_CARTESIAN c2,
double s2)
-
Adds two PM_CARTESIANS and returns a weightedAvg ie. c1*s1+c2*s2;
-
Parameters:
-
c1 - first PM_CARTESIAN to add
-
s1 - weighting scale factor for c1
-
c2 - second PM_CARTESIAN to add
-
s2 - weighting scale factor for c2
Returns:
-
c1*s1+c2*s2
computeLineFitErrors
public static double[] computeLineFitErrors(PM_LINE line,
java.util.List<? extends PmCartesian> l)
-
Compute an array of errors or the distance between each point in list l to line line.
-
Parameters:
-
line - line points should be near
-
l - list of points near line
Returns:
-
array of errors
fitCircle2D_XY
public static PM_CIRCLE fitCircle2D_XY(java.util.List<? extends PmCartesian> l)
-
Ignores the z value in each element of the list and returns a circle fit with least-squares error to x,y points
-
Parameters:
-
l - list of PmCartesian points to fit
Returns:
-
PM_CIRCLE with center and radius of the fitted circle.
IS_FUZZ
public static boolean IS_FUZZ(double a,
double fuzz)
throws PmException
-
Throws:
-
PmException
pmSqrt
public static double pmSqrt(double x)
throws PmException
-
Square root function that adds some extra checks similiar to the C++ pmSqrt() primarily only exists for converting C++ apps. Otherwise use Math.sqrt().
-
Parameters:
-
x - number to take square root of
Returns:
-
square root of x
Throws:
-
PmException
pmSq
public static double pmSq(double x)
-
Square of x or x*x.
-
Parameters:
-
x - number to square
Returns:
-
square of x
pmClose
public static boolean pmClose(double a,
double b,
double eps)
-
Determine if a within eps of b.
-
Parameters:
-
a -
-
b -
-
eps -
Returns:
-
(Math.abs(a - b) < eps)
pmCartCylConvert
public static int pmCartCylConvert(PmCartesian v,
PmCylindrical c)
-
toSph
public static PM_SPHERICAL toSph(PM_CARTESIAN v)
-
Convert a PM_CARTESIAN to PM_SPHERICAL
-
Parameters:
-
v - cartesian to convert
Returns:
-
v in spherical coords
pmCartSphConvert
public static int pmCartSphConvert(PmCartesian v,
PmSpherical s)
-
Convert a PmCartesian to PmSpherical
-
Parameters:
-
v - cartesian to convert
-
s - spherical to store converted results in
Returns:
-
0
toCart
public static PM_CARTESIAN toCart(PM_SPHERICAL v)
-
Convert PM_SPHERICAL to PM_CARTESIAN
-
Parameters:
-
v - cartesian to convert
Returns:
-
v in spherical coords
pmSphCartConvert
public static int pmSphCartConvert(PmSpherical s,
PmCartesian v)
-
Convert PmSherical to PmCartesian
-
Parameters:
-
s - spherical to convert
-
v - cartesian to store converted result
Returns:
-
0
toCyl
public static PM_CYLINDRICAL toCyl(PM_SPHERICAL s)
-
Convert a spherical to cylindrical
-
Parameters:
-
s - spherical to convert
Returns:
-
s in cylindrical coordinates.
pmSphCylConvert
public static int pmSphCylConvert(PmSpherical s,
PmCylindrical c)
-
Convert a spherical to cylindrical
-
Parameters:
-
s - spherical to convert
-
c - cylindrical to store converted value
Returns:
-
0
toCart
public static PM_CARTESIAN toCart(PM_CYLINDRICAL v)
-
Convert a cylindrical to a cartesian
-
Parameters:
-
v - cylindrical to convert
Returns:
-
v in cartesian coords
pmCylCartConvert
public static int pmCylCartConvert(PmCylindrical c,
PmCartesian v)
-
Convert cylindrical to cartesian.
-
Parameters:
-
c - cylindrical to convert
-
v - cartesian to store result
Returns:
-
0
toSph
public static PM_SPHERICAL toSph(PM_CYLINDRICAL c)
-
Convert a cylindrical to a spherical
-
Parameters:
-
c - cylindrical to convert
Returns:
-
c in spherical coordinates
pmCylSphConvert
public static int pmCylSphConvert(PmCylindrical c,
PmSpherical s)
-
Convert a cylindrical to a spherical
-
Parameters:
-
c - cylindrical to convert
-
s - spherical to store result
Returns:
-
0
pmAxisAngleQuatConvert
public static int pmAxisAngleQuatConvert(int axis,
double a,
PmQuaternion q)
throws PmException
-
Store a quaternion based on a single rotation about an axis
-
Parameters:
-
axis - either PM_X,PM_Y, or PM_Z
-
a - angle in radians for rotation
-
q - quaternion to store result
Returns:
-
0
Throws:
-
PmException
toQuat
public static PM_QUATERNION toQuat(PM_ROTATION_VECTOR v)
throws PmException
-
Convert a rotation vector to a quaternion
-
Parameters:
-
v - rotation vector to convert
Returns:
-
v as a quaternion
Throws:
-
PmException
pmRotQuatConvert
public static int pmRotQuatConvert(PmRotationVector r,
PmQuaternion q)
throws PmException
-
Convert a rotation vector to a quaternion
-
Parameters:
-
r - rotation vector to convert
-
q - quaternion to store result
Returns:
-
0
Throws:
-
PmException
toMat
public static PM_ROTATION_MATRIX toMat(PM_ROTATION_VECTOR v)
throws PmException
-
Convert rotation vector to rotation matrix
-
Parameters:
-
v - rotation vector to convert (must be normalized)
Returns:
-
v as a rotation matrix
Throws:
-
PmException
pmRotMatConvert
public static int pmRotMatConvert(PmRotationVector r,
PmRotationMatrix m)
throws PmException
-
Convert a rotation vector to a rotation matrix.
-
Parameters:
-
r - rotation vector to convert
-
m - rotation matrix to store result
Returns:
-
0
Throws:
-
PmException
toRot
public static PM_ROTATION_VECTOR toRot(PM_QUATERNION v)
throws PmException
-
Convert quaternion to a rotation vector
-
Parameters:
-
v - quaternion to convert (must be normalized)
Returns:
-
v as a rotation vector
Throws:
-
PmException
pmQuatRotConvert
public static int pmQuatRotConvert(PmQuaternion q,
PmRotationVector r)
throws PmException
-
Convert a quaternion to a rotation vector
-
Parameters:
-
q - quaternion to convert
-
r - rotation vector to store result
Returns:
-
0
Throws:
-
PmException
toMat
public static PM_ROTATION_MATRIX toMat(PM_QUATERNION v)
throws PmException
-
Convert a quaternion to a rotation matrix.
-
Parameters:
-
v - quaternion to convert (must be normalized)
Returns:
-
v as a rotation matrix
Throws:
-
PmException
pmQuatMatConvert
public static int pmQuatMatConvert(PmQuaternion q,
PmRotationMatrix m)
throws PmException
-
Throws:
-
PmException
pmQuatZyzConvert
public static int pmQuatZyzConvert(PmQuaternion q,
PmEulerZyz zyz)
throws PmException
-
Throws:
-
PmException
pmQuatZyxConvert
public static int pmQuatZyxConvert(PmQuaternion q,
PmEulerZyx zyx)
throws PmException
-
Throws:
-
PmException
toRpy
public static PM_RPY toRpy(PM_QUATERNION v)
throws PmException
-
Throws:
-
PmException
pmQuatRpyConvert
public static int pmQuatRpyConvert(PmQuaternion q,
PmRpy rpy)
throws PmException
-
Throws:
-
PmException
pmMatRotConvert
public static int pmMatRotConvert(PmRotationMatrix m,
PmRotationVector r)
throws PmException
-
Throws:
-
PmException
toQuat
public static PM_QUATERNION toQuat(PM_ROTATION_MATRIX m)
throws PmException
-
Throws:
-
PmException
pmMatQuatConvert
public static int pmMatQuatConvert(PmRotationMatrix m,
PmQuaternion q)
throws PmException
-
Throws:
-
PmException
pmMatZyzConvert
public static int pmMatZyzConvert(PmRotationMatrix m,
PmEulerZyz zyz)
throws PmException
-
Throws:
-
PmException
pmMatZyxConvert
public static int pmMatZyxConvert(PmRotationMatrix m,
PmEulerZyx zyx)
throws PmException
-
Throws:
-
PmException
pmMatRpyConvert
public static int pmMatRpyConvert(PmRotationMatrix m,
PmRpy rpy)
throws PmException
-
Throws:
-
PmException
pmZyzRotConvert
public static int pmZyzRotConvert(PmEulerZyz zyz,
PmRotationVector r)
throws PmException
-
Throws:
-
PmException
toQuat
public static PM_QUATERNION toQuat(PM_EULER_ZYZ v)
throws PmException
-
Throws:
-
PmException
pmZyzQuatConvert
public static int pmZyzQuatConvert(PmEulerZyz zyz,
PmQuaternion q)
throws PmException
-
Throws:
-
PmException
pmZyzMatConvert
public static int pmZyzMatConvert(PmEulerZyz zyz,
PmRotationMatrix m)
throws PmException
-
Throws:
-
PmException
pmZyzRpyConvert
public static int pmZyzRpyConvert(PmEulerZyz zyz,
PmRpy rpy)
throws PmException
-
Throws:
-
PmException
pmZyxRotConvert
public static int pmZyxRotConvert(PmEulerZyx zyx,
PmRotationVector r)
throws PmException
-
Throws:
-
PmException
toQuat
public static PM_QUATERNION toQuat(PM_EULER_ZYX v)
throws PmException
-
Throws:
-
PmException
pmZyxQuatConvert
public static int pmZyxQuatConvert(PmEulerZyx zyx,
PmQuaternion q)
throws PmException
-
Throws:
-
PmException
pmZyxMatConvert
public static int pmZyxMatConvert(PmEulerZyx zyx,
PmRotationMatrix m)
throws PmException
-
Throws:
-
PmException
pmZyxZyzConvert
public static int pmZyxZyzConvert(PmEulerZyx zyx,
PmEulerZyz zyz)
throws PmException
-
Throws:
-
PmException
pmZyxRpyConvert
public static int pmZyxRpyConvert(PmEulerZyx zyx,
PmRpy rpy)
throws PmException
-
Throws:
-
PmException
pmRpyRotConvert
public static int pmRpyRotConvert(PmRpy rpy,
PmRotationVector r)
throws PmException
-
Throws:
-
PmException
toQuat
public static PM_QUATERNION toQuat(PM_RPY v)
throws PmException
-
Throws:
-
PmException
pmRpyQuatConvert
public static int pmRpyQuatConvert(PmRpy rpy,
PmQuaternion q)
throws PmException
-
Throws:
-
PmException
pmRpyMatConvert
public static int pmRpyMatConvert(PmRpy rpy,
PmRotationMatrix m)
throws PmException
-
Throws:
-
PmException
pmRpyZyzConvert
public static int pmRpyZyzConvert(PmRpy rpy,
PmEulerZyz zyz)
throws PmException
-
Throws:
-
PmException
pmRpyZyxConvert
public static int pmRpyZyxConvert(PmRpy rpy,
PmEulerZyx zyx)
throws PmException
-
Throws:
-
PmException
toHom
public static PM_HOMOGENEOUS toHom(PM_POSE p)
throws PmException
-
Throws:
-
PmException
pmPoseHomConvert
public static int pmPoseHomConvert(PmPose p,
PmHomogeneous h)
throws PmException
-
Throws:
-
PmException
pmHomPoseConvert
public static int pmHomPoseConvert(PmHomogeneous h,
PmPose p)
throws PmException
-
Throws:
-
PmException
pmCartCartCompare
public static boolean pmCartCartCompare(PmCartesian v1,
PmCartesian v2)
throws PmException
-
Throws:
-
PmException
dot
public static double dot(PmCartesian v1,
PmCartesian v2)
-
dot
public static double dot(PM_CARTESIAN v1,
PM_CARTESIAN v2)
-
pmCartCartDot
public static double pmCartCartDot(PmCartesian v1,
PmCartesian v2)
-
cross
public static PM_CARTESIAN cross(PM_CARTESIAN v1,
PM_CARTESIAN v2)
throws PmException
-
Throws:
-
PmException
pmCartCartCross
public static int pmCartCartCross(PmCartesian v1,
PmCartesian v2,
PmCartesian vout)
throws PmException
-
Throws:
-
PmException
mag
public static double mag(PM_CARTESIAN v)
-
mag
public static double mag(PmCartesian v)
-
pmCartMag
public static double pmCartMag(PmCartesian v)
-
disp
public static double disp(PM_CARTESIAN v1,
PM_CARTESIAN v2)
throws PmException
-
Throws:
-
PmException
pmCartCartDisp
public static double pmCartCartDisp(PmCartesian v1,
PmCartesian v2)
throws PmException
-
Throws:
-
PmException
add
public static PM_CARTESIAN add(PM_CARTESIAN v1,
PM_CARTESIAN v2)
-
add
public static PmCartesian add(PmCartesian v1,
PmCartesian v2)
-
pmCartCartAdd
public static int pmCartCartAdd(PmCartesian v1,
PmCartesian v2,
PmCartesian vout)
-
subtract
public static PM_CARTESIAN subtract(PM_CARTESIAN v1,
PM_CARTESIAN v2)
-
subtract
public static PmCartesian subtract(PmCartesian v1,
PmCartesian v2)
-
pmCartCartSub
public static int pmCartCartSub(PmCartesian v1,
PmCartesian v2,
PmCartesian vout)
-
multiply
public static PM_CARTESIAN multiply(double d,
PM_CARTESIAN v)
-
multiply
public static PM_CARTESIAN multiply(PM_CARTESIAN v,
double d)
-
multiply
public static PmCartesian multiply(double d,
PmCartesian v)
-
multiply
public static PmCartesian multiply(PmCartesian v,
double d)
-
pmCartScalMult
public static int pmCartScalMult(PmCartesian v1,
double d,
PmCartesian vout)
-
divide
public static PM_CARTESIAN divide(PM_CARTESIAN v,
double d)
throws PmException
-
Throws:
-
PmException
pmCartScalDiv
public static int pmCartScalDiv(PmCartesian v1,
double d,
PmCartesian vout)
throws PmException
-
Throws:
-
PmException
neg
public static PM_CARTESIAN neg(PM_CARTESIAN v)
throws PmException
-
Throws:
-
PmException
pmCartNeg
public static int pmCartNeg(PmCartesian v1,
PmCartesian vout)
throws PmException
-
Throws:
-
PmException
inv
public static PM_CARTESIAN inv(PM_CARTESIAN v)
throws PmException
-
Throws:
-
PmException
pmCartInv
public static int pmCartInv(PmCartesian v1,
PmCartesian vout)
throws PmException
-
Throws:
-
PmException
norm
public static PM_CARTESIAN norm(PM_CARTESIAN v)
throws PmException
-
Throws:
-
PmException
pmCartNorm
public static int pmCartNorm(PmCartesian v,
PmCartesian vout)
throws PmException
-
Throws:
-
PmException
isNorm
public static boolean isNorm(PM_CARTESIAN v)
throws PmException
-
Throws:
-
PmException
pmCartIsNorm
public static boolean pmCartIsNorm(PmCartesian v)
throws PmException
-
Throws:
-
PmException
proj
public static PM_CARTESIAN proj(PM_CARTESIAN v1,
PM_CARTESIAN v2)
throws PmException
-
Throws:
-
PmException
pmCartCartProj
public static int pmCartCartProj(PmCartesian v1,
PmCartesian v2,
PmCartesian vout)
throws PmException
-
Throws:
-
PmException
pmCartPlaneProj
public static int pmCartPlaneProj(PmCartesian v,
PmCartesian normal,
PmCartesian vout)
throws PmException
-
Throws:
-
PmException
pmCylCylAdd
public static int pmCylCylAdd(PmCylindrical c1,
PmCylindrical c2,
PmCylindrical cout)
throws PmException
-
Throws:
-
PmException
pmCylCylSub
public static int pmCylCylSub(PmCylindrical c1,
PmCylindrical c2,
PmCylindrical cout)
throws PmException
-
Throws:
-
PmException
multiply
public static PM_CYLINDRICAL multiply(double d,
PM_CYLINDRICAL c)
throws PmException
-
Throws:
-
PmException
multiply
public static PM_CYLINDRICAL multiply(PM_CYLINDRICAL c,
double d)
throws PmException
-
Throws:
-
PmException
pmCylScalMult
public static int pmCylScalMult(PmCylindrical v1,
double d,
PmCylindrical vout)
throws PmException
-
Throws:
-
PmException
divide
public static PM_CYLINDRICAL divide(PM_CYLINDRICAL c,
double d)
throws PmException
-
Throws:
-
PmException
pmCylScalDiv
public static int pmCylScalDiv(PmCylindrical v1,
double d,
PmCylindrical vout)
throws PmException
-
Throws:
-
PmException
pmCylCylCompare
public static boolean pmCylCylCompare(PmCylindrical v1,
PmCylindrical v2)
throws PmException
-
Throws:
-
PmException
dot
public static double dot(PM_CYLINDRICAL v1,
PM_CYLINDRICAL v2)
throws PmException
-
Throws:
-
PmException
pmCylCylDot
public static double pmCylCylDot(PmCylindrical c1,
PmCylindrical c2)
throws PmException
-
Throws:
-
PmException
mag
public static double mag(PM_CYLINDRICAL v1)
throws PmException
-
Throws:
-
PmException
pmCylMag
public static double pmCylMag(PmCylindrical c)
throws PmException
-
Throws:
-
PmException
cross
public static PM_CYLINDRICAL cross(PM_CYLINDRICAL v1,
PM_CYLINDRICAL v2)
throws PmException
-
Throws:
-
PmException
pmCylCylCross
public static int pmCylCylCross(PmCylindrical c1,
PmCylindrical c2,
PmCylindrical cout)
throws PmException
-
Throws:
-
PmException
neg
public static PM_CYLINDRICAL neg(PM_CYLINDRICAL v)
throws PmException
-
Throws:
-
PmException
pmCylNeg
public static int pmCylNeg(PmCylindrical v1,
PmCylindrical vout)
throws PmException
-
Throws:
-
PmException
norm
public static PM_CYLINDRICAL norm(PM_CYLINDRICAL v)
throws PmException
-
Throws:
-
PmException
pmCylNorm
public static int pmCylNorm(PmCylindrical v,
PmCylindrical vout)
throws PmException
-
Throws:
-
PmException
inv
public static PM_CYLINDRICAL inv(PM_CYLINDRICAL v)
throws PmException
-
Throws:
-
PmException
pmCylInv
public static int pmCylInv(PmCylindrical c,
PmCylindrical cout)
throws PmException
-
Throws:
-
PmException
isNorm
public static boolean isNorm(PM_CYLINDRICAL v)
throws PmException
-
Throws:
-
PmException
pmCylIsNorm
public static boolean pmCylIsNorm(PmCylindrical v)
throws PmException
-
Throws:
-
PmException
pmQuatAxisAngleMult
public static PmQuaternion pmQuatAxisAngleMult(PmQuaternion q,
int axis,
double angle)
throws PmException
-
Throws:
-
PmException
pmQuatAxisAngleMult
public static int pmQuatAxisAngleMult(PmQuaternion q,
int axis,
double angle,
PmQuaternion pq)
throws PmException
-
Throws:
-
PmException
multiply
public static PM_ROTATION_VECTOR multiply(PM_ROTATION_VECTOR r,
double s)
throws PmException
-
Throws:
-
PmException
multiply
public static PmRotationVector multiply(double s,
PM_ROTATION_VECTOR r)
throws PmException
-
Throws:
-
PmException
pmRotScalMult
public static int pmRotScalMult(PmRotationVector r,
double s,
PmRotationVector rout)
throws PmException
-
Throws:
-
PmException
divide
public static PM_ROTATION_VECTOR divide(PM_ROTATION_VECTOR r,
double s)
throws PmException
-
Throws:
-
PmException
pmRotScalDiv
public static int pmRotScalDiv(PmRotationVector r,
double s,
PmRotationVector rout)
throws PmException
-
Throws:
-
PmException
isNorm
public static boolean isNorm(PM_ROTATION_VECTOR r)
throws PmException
-
Throws:
-
PmException
pmRotIsNorm
public static boolean pmRotIsNorm(PmRotationVector r)
throws PmException
-
Throws:
-
PmException
norm
public static PM_ROTATION_VECTOR norm(PM_ROTATION_VECTOR r)
throws PmException
-
Throws:
-
PmException
pmRotNorm
public static int pmRotNorm(PmRotationVector r,
PmRotationVector rout)
throws PmException
-
Throws:
-
PmException
pmMatNorm
public static int pmMatNorm(PmRotationMatrix m,
PmRotationMatrix mout)
throws PmException
-
Throws:
-
PmException
isNorm
public static boolean isNorm(PM_ROTATION_MATRIX m)
throws PmException
-
Throws:
-
PmException
pmMatIsNorm
public static boolean pmMatIsNorm(PmRotationMatrix m)
throws PmException
-
Throws:
-
PmException
pmMatInv
public static int pmMatInv(PmRotationMatrix m,
PmRotationMatrix mout)
throws PmException
-
Throws:
-
PmException
multiply
public static PM_CARTESIAN multiply(PM_ROTATION_MATRIX m,
PM_CARTESIAN v)
throws PmException
-
Throws:
-
PmException
pmMatCartMult
public static int pmMatCartMult(PmRotationMatrix m,
PmCartesian v,
PmCartesian vout)
throws PmException
-
Throws:
-
PmException
multiply
public static PM_ROTATION_MATRIX multiply(PM_ROTATION_MATRIX m1,
PM_ROTATION_MATRIX m2)
throws PmException
-
Throws:
-
PmException
pmMatMatMult
public static int pmMatMatMult(PmRotationMatrix m1,
PmRotationMatrix m2,
PmRotationMatrix mout)
throws PmException
-
Throws:
-
PmException
pmQuatQuatCompare
public static boolean pmQuatQuatCompare(PmQuaternion q1,
PmQuaternion q2)
throws PmException
-
Throws:
-
PmException
mag
public static double mag(PM_QUATERNION q)
throws PmException
-
Throws:
-
PmException
pmQuatMag
public static double pmQuatMag(PmQuaternion q)
throws PmException
-
Throws:
-
PmException
norm
public static PM_QUATERNION norm(PM_QUATERNION q1)
throws PmException
-
Throws:
-
PmException
pmQuatNorm
public static int pmQuatNorm(PmQuaternion q1,
PmQuaternion qout)
throws PmException
-
Throws:
-
PmException
inv
public static PM_QUATERNION inv(PM_QUATERNION q1)
throws PmException
-
Throws:
-
PmException
pmQuatInv
public static int pmQuatInv(PmQuaternion q1,
PmQuaternion qout)
throws PmException
-
Throws:
-
PmException
isNorm
public static boolean isNorm(PM_QUATERNION q1)
throws PmException
-
Throws:
-
PmException
pmQuatIsNorm
public static boolean pmQuatIsNorm(PmQuaternion q1)
throws PmException
-
Throws:
-
PmException
multiply
public static PM_QUATERNION multiply(PM_QUATERNION q,
double s)
throws PmException
-
Throws:
-
PmException
multiply
public static PM_QUATERNION multiply(double s,
PM_QUATERNION q)
throws PmException
-
Throws:
-
PmException
pmQuatScalMult
public static int pmQuatScalMult(PmQuaternion q,
double s,
PmQuaternion qout)
throws PmException
-
Throws:
-
PmException
divide
public static PM_QUATERNION divide(PM_QUATERNION q,
double s)
throws PmException
-
Throws:
-
PmException
pmQuatScalDiv
public static int pmQuatScalDiv(PmQuaternion q,
double s,
PmQuaternion qout)
throws PmException
-
Throws:
-
PmException
multiply
public static PM_QUATERNION multiply(PM_QUATERNION q1,
PM_QUATERNION q2)
throws PmException
-
Throws:
-
PmException
pmQuatQuatMult
public static int pmQuatQuatMult(PmQuaternion q1,
PmQuaternion q2,
PmQuaternion qout)
throws PmException
-
Throws:
-
PmException
multiply
public static PM_CARTESIAN multiply(PM_QUATERNION q1,
PM_CARTESIAN v2)
throws PmException
-
Throws:
-
PmException
pmQuatCartMult
public static int pmQuatCartMult(PmQuaternion q1,
PmCartesian v2,
PmCartesian vout)
throws PmException
-
Throws:
-
PmException
pmPosePoseCompare
public static boolean pmPosePoseCompare(PmPose p1,
PmPose p2)
throws PmException
-
Throws:
-
PmException
inv
public static PM_POSE inv(PM_POSE p)
throws PmException
-
Throws:
-
PmException
inv
public static PM_XYA inv(PM_XYA p)
throws PmException
-
Throws:
-
PmException
multiply
public static PM_XYA multiply(PM_XYA p1,
PM_XYA p2)
-
pmPoseInv
public static int pmPoseInv(PmPose p1,
PmPose p2)
throws PmException
-
Throws:
-
PmException
multiply
public static PM_CARTESIAN multiply(PM_POSE p1,
PM_CARTESIAN v2)
throws PmException
-
Throws:
-
PmException
pmPoseCartMult
public static int pmPoseCartMult(PmPose p1,
PmCartesian v2,
PmCartesian vout)
throws PmException
-
Throws:
-
PmException
multiply
public static PM_POSE multiply(PM_POSE p1,
PM_POSE p2)
throws PmException
-
Throws:
-
PmException
pmPosePoseMult
public static int pmPosePoseMult(PmPose p1,
PmPose p2,
PmPose pout)
throws PmException
-
Throws:
-
PmException
inv
public static PM_HOMOGENEOUS inv(PM_HOMOGENEOUS h)
throws PmException
-
Throws:
-
PmException
pmHomInv
public static int pmHomInv(PmHomogeneous h1,
PmHomogeneous h2)
throws PmException
-
Throws:
-
PmException
pmLineInit
public static int pmLineInit(PmLine line,
PmPose start,
PmPose end)
throws PmException
-
Throws:
-
PmException
pmLinePoint
public static int pmLinePoint(PmLine line,
double len,
PmPose point)
throws PmException
-
Throws:
-
PmException
pmCircleInit
public static int pmCircleInit(PmCircle circle,
PmPose start,
PmPose end,
PmCartesian center,
PmCartesian normal,
int turn)
throws PmException
-
Throws:
-
PmException
pmCirclePoint
public static int pmCirclePoint(PmCircle circle,
double angle,
PmPose point)
throws PmException
-
Throws:
-
PmException
point_on_line
public static PmCartesian point_on_line(PM_LINE line,
PmCartesian p)
-
point_on_line
public static PM_CARTESIAN point_on_line(PM_LINE line,
PM_CARTESIAN p)
-
point_on_line
public static PM_CARTESIAN point_on_line(PM_CARTESIAN s,
PM_CARTESIAN u,
PM_CARTESIAN p)
-
point_on_line_segment
public static PM_CARTESIAN point_on_line_segment(PM_CARTESIAN s,
PM_CARTESIAN e,
PM_CARTESIAN p)
-
main
public static void main(java.lang.String[] args)
-
intersection
public static PM_CARTESIAN intersection(PM_LINE l1,
PM_LINE l2)
throws PmException
-
Throws:
-
PmException
扫一扫
1万+
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
