Robot Simulator of the Robotics Group for Self-Organization of Control: mathutils.h Source File

# mathutils.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __MATHUTILS_H
    00025 #define __MATHUTILS_H
    00026
    00027 #include <selforg/matrix.h>
    00028 #include <selforg/position.h>
    00029 #include "osgforwarddecl.h"
    00030 #include <osg/Math>
    00031
    00032 namespace lpzrobots {
    00033
    00034   class Axis;
    00035
    00036 /*   template<typename T> */
    00037 /*   inline T clip(T v,T minimum, T maximum) */
    00038 /*     { return clampBelow(clampAbove(v,minimum),maximum); } */
    00039
    00040 /*template<typename T> */
    00041 /*      inline T abs(T v) */
    00042 /*{ return ((v>0)?v:-v); } */
    00043
    00044   template<typename T>
    00045   inline T normalize360(T v)
    00046     { while (v>360) v-=360; while (v<360) v+=360; return v; }
    00047   /*******************************************************************************/
    00048
    00049
    00050   /**
    00051    * returns a rotation matrix (osg) with the given angles
    00052    * alpha, beta and gamma
    00053    */
    00054   osg::Matrix osgRotate(const double& alpha, const double& beta, const double& gamma);
    00055
    00056   /**
    00057      converts osg matrix to matrix of matrixlib
    00058    */
    00059   matrix::Matrix osgMatrix2Matrixlib(const osg::Matrix& m);
    00060
    00061
    00062   /**
    00063      returns a Rotation matrix that rotates the x-axis along with the given axis.
    00064      The other 2 axis (y,z) are ambiguous.
    00065   */
    00066   osg::Matrix rotationMatrixFromAxisX(const Axis& axis);
    00067
    00068   /**
    00069      returns a Rotation matrix that rotates the z-axis along with the given axis.
    00070      The other 2 axis (x,y) are ambiguous.
    00071   */
    00072   osg::Matrix rotationMatrixFromAxisZ(const Axis& axis);
    00073
    00074   /**
    00075    * returns the angle between two vectors (in rad)
    00076    */
    00077   double getAngle(const osg::Vec3& a, const osg::Vec3& b) ;
    00078
    00079   /// converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
    00080   matrix::Matrix odeRto3x3RotationMatrixT ( const double R[12] );
    00081
    00082   /// converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
    00083   matrix::Matrix odeRto3x3RotationMatrix ( const double R[12] );
    00084
    00085   /*******************************************************************************/
    00086
    00087   /**
    00088      Multiplies 3x3 matrix with position
    00089   */
    00090   Position multMatrixPosition(const matrix::Matrix& r, Position& p);
    00091
    00092   /**
    00093    * returns a rotation matrix with the given angle
    00094    */
    00095   matrix::Matrix getRotationMatrix(const double& angle);
    00096
    00097
    00098   /**
    00099    * returns a translation matrix with the given Position
    00100    */
    00101   matrix::Matrix getTranslationMatrix(const Position& p) ;
    00102
    00103
    00104   /**
    00105    * removes the translation in the matrix
    00106    */
    00107   matrix::Matrix removeTranslationInMatrix(const matrix::Matrix& pose);
    00108
    00109
    00110   /**
    00111    * removes the rotation in the matrix
    00112    */
    00113   matrix::Matrix removeRotationInMatrix(const matrix::Matrix& pose) ;
    00114
    00115
    00116   /**
    00117    * returns the angle between two vectors
    00118    */
    00119   double getAngle(Position a, Position b) ;
    00120
    00121 }
    00122
    00123 #endif