Robot Simulator of the Robotics Group for Self-Organization of Control: mathutils.cpp File Reference

# mathutils.cpp File Reference

`#include <cmath>`
`#include <osg/Matrix>`
`#include "mathutils.h"`
`#include <selforg/matrix.h>`
`#include <selforg/position.h>`
`#include "osgforwarddecl.h"`
`#include <osg/Math>`
`#include <osg/Vec3>`
`#include <osg/Vec4>`
`#include <ode-dbl/ode.h>`
`#include <iostream>`
Include dependency graph for mathutils.cpp:
This graph shows which files directly or indirectly include this file:

## Namespaces
namespace | lpzrobots

| forward declarations
## Functions
osg::Matrix | osgRotate (const double &alpha, const double &beta, const double &gamma)
| returns a rotation matrix (osg) with the given angles alpha, beta and gamma
Matrix | osgMatrix2Matrixlib (const osg::Matrix &m)
| converts osg matrix to matrix of matrixlib
osg::Matrix | rotationMatrixFromAxisX (const Axis &axis)
| returns a Rotation matrix that rotates the x-axis along with the given axis.
osg::Matrix | rotationMatrixFromAxisZ (const Axis &axis)
| returns a Rotation matrix that rotates the z-axis along with the given axis.
double | getAngle (const osg::Vec3 &a, const osg::Vec3 &b)
| returns the angle between two vectors (in rad)
matrix::Matrix | odeRto3x3RotationMatrixT (const double R[12])
| converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
matrix::Matrix | odeRto3x3RotationMatrix (const double R[12])
| converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
Position | multMatrixPosition (const matrix::Matrix &r, Position &p)
| Multiplies 3x3 matrix with position.
Matrix | getRotationMatrix (const double &angle)
| returns a rotation matrix with the given angle
Matrix | getTranslationMatrix (const Position &p)
| returns a translation matrix with the given Position
Matrix | removeTranslationInMatrix (const matrix::Matrix &pose)
| removes the translation in the matrix
Matrix | removeRotationInMatrix (const matrix::Matrix &pose)
| removes the rotation in the matrix
double | getAngle (Position a, Position b)
| returns the angle between two vectors