|
Namespaces |
| namespace | DWARF |
| namespace | DWARF::Util |
Functions |
| Time | currentTime () |
| | Get the current system time as a DWARF::Time struct.
|
| Time | getTimeToNow (Time &compareTime) |
| | Get the difference to the current time.
|
|
double | q_x (double *q) |
| | Convenience method for accessing a quaternion's X component.
|
|
double | q_y (double *q) |
| | Convenience method for accessing a quaternion's y component.
|
|
double | q_z (double *q) |
| | Convenience method for accessing a quaternion's z component.
|
|
double | q_w (double *q) |
| | Convenience method for accessing a quaternion's scalar component.
|
| double * | quaternionToMatrix (const double *quat, double *matrix) |
| | Construct rotation matrix from unit quaternion.
|
| double * | matrixToQuaternion (const double *matrix, double *quat) |
| | Construct a unit quaternion from a rotation matrix.
|
| double * | axisAngleToQuaternion (double *axisAngle, double *quat) |
| | Converts axis/angle representation (as used in VRML) to a unit quaternion.
|
| double * | quaternionToAxisAngle (double *quat, double *axisAngle) |
| | Converts a unit quaternion to axis/angle representation (as used in VRML).
|
| double * | invertQuaternion (double *quat) |
| | Inverts a quaternion.
|
| double * | conjugateQuaternion (double *quat) |
| | Conjugates a quaternion (i.e. negates its vector part).
|
| double * | normalizeQuaternion (double *quat) |
| | Normalizes a quaternion (i.e. makes a unit quaternion).
|
| double * | normalizeVector (double *vec, int length) |
| | Normalizes a vector.
|
| double * | multiplyQuaternion (double *quat, const double *quat1, const double *quat2) |
| double * | rotateQuaternion (double *rotPoint, const double *quat, const double *point) |
| | Rotates a 3-dim point by a unit quaternion.
|
| void | transformCoordinateFrame (const double *transRot, const double *transPos, double *rot, double *pos) |
| | Transforms the coordinate reference frame of a 6D pose.
|
| double * | rotateMatrix (double *rotPoint, const double *matrix, const double *point) |
| | Rotates a 3-dim point by a orthonormal rotation matrix.
|
| double * | invertMatrix (double *matrix, int col, int row) |
| | (self) inverts a matrix
|
| double * | crossProduct3D (double *p, double *a, double *b) |
| | Compute cross product p = a x b of two 3D-vectors.
|
| double | scalarProduct3D (double *a, double *b) |
| | Compute scalar product p = a . b of two 3D-vectors.
|
| double | angleBetweenVectors3D (double *a, double *b) |
| | calculates the angle between two 3D-vectors
|
| void | poseRightInverse (double *newQuat, double *newTrans, const double *oldQuat, const double *oldTrans) |
| | Inverts a pose transformation.
|
| void | poseLeftInverse (double *newQuat, double *newTrans, const double *oldQuat, const double *oldTrans) |
| | Inverts a pose transformation.
|
| double * | colMatrixToEuler (double *colMatrix, double *angles) |
| | Contructs Euler rotation representation out of matrix.
|
| double * | eulerToQuaternion (double *angles, double *quat) |
| | Constructs quaternion from Euler representation.
|
| double * | quaternionSlerp (double *quat, const double *quat1, const double *quat2, double h) |
| | Interpolates quaternions using the SLERP algorithm.
|
| double * | quaternionNegateIfCloser (double *quat, const double *otherquat) |
| | Negates a quaternion if the result is closer to a given reference.
|
| double * | negateQuaternion (double *quat) |
| | Negates a quaternion.
|
Variables |
|
const unsigned char | QX = 0 |
| | Use only this constant for accessing a quaternion's X component.
|
|
const unsigned char | QY = 1 |
| | Use only this constant for accessing a quaternion's Y component.
|
|
const unsigned char | QZ = 2 |
| | Use only this constant for accessing a quaternion's Z component.
|
|
const unsigned char | QW = 3 |
| | Use only this constant for accessing a quaternion's scalar component.
|