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# mathutils.h

Go to the documentation of this file.

    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *    frankguettler@gmx.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  *   $Log: mathutils.h,v $
    00024  *   Revision 1.10  2007/09/27 10:47:04  robot3
    00025  *   mathutils: moved abs to selforg/stl_adds.h
    00026  *   simulation,base: added callbackable support,
    00027  *   added WSM (WindowStatisticsManager) funtionality
    00028  *
    00029  *   Revision 1.9  2007/04/03 16:33:13  der
    00030  *   removed clip
    00031  *
    00032  *   Revision 1.8  2006/08/08 17:04:47  martius
    00033  *   added new sensor model
    00034  *
    00035  *   Revision 1.7  2006/07/14 12:23:56  martius
    00036  *   selforg becomes HEAD
    00037  *
    00038  *   Revision 1.3.4.10  2006/07/10 12:07:16  martius
    00039  *   Matrixlib now in selforg
    00040  *   optimised compilation
    00041  *
    00042  *   Revision 1.3.4.9  2006/06/27 14:14:30  robot3
    00043  *   -optimized mesh and boundingshape code
    00044  *   -other changes
    00045  *
    00046  *   Revision 1.3.4.8  2006/03/29 15:10:11  martius
    00047  *   osgMatrix2matrixlib
    00048  *
    00049  *   Revision 1.3.4.7  2006/03/05 10:58:18  robot3
    00050  *   added a template function normalize360
    00051  *
    00052  *   Revision 1.3.4.6  2006/03/04 16:57:36  robot3
    00053  *   added a template function for abs
    00054  *
    00055  *   Revision 1.3.4.5  2006/02/07 15:48:56  martius
    00056  *   axis
    00057  *
    00058  *   Revision 1.3.4.4  2005/12/15 17:04:32  martius
    00059  *   getAngle
    00060  *   min, max and so on are template functions now
    00061  *
    00062  *   Revision 1.3.4.3  2005/12/14 15:37:38  martius
    00063  *   rotation matrix for axis
    00064  *
    00065  *   Revision 1.3.4.2  2005/11/24 16:21:45  fhesse
    00066  *   multMatrixPosition added
    00067  *
    00068  *   Revision 1.3.4.1  2005/11/14 17:37:25  martius
    00069  *   moved to selforg
    00070  *
    00071  *   Revision 1.3  2005/11/10 09:09:55  martius
    00072  *   use defines for definitions of sqrt, min, max...
    00073  *
    00074  *   Revision 1.2  2005/10/27 14:16:11  martius
    00075  *   some bugs fixed, module now works
    00076  *   some functions from controller_misc.h are here now
    00077  *
    00078  *   Revision 1.1  2005/10/27 12:15:22  robot3
    00079  *   several useful functions that provide mathematic operations
    00080  *
    00081  *                                                                         *
    00082  ***************************************************************************/
    00083 #ifndef __MATHUTILS_H
    00084 #define __MATHUTILS_H
    00085
    00086 #include <selforg/matrix.h>
    00087 #include <selforg/position.h>
    00088 #include "osgforwarddecl.h"
    00089 #include <osg/Math>
    00090
    00091 namespace lpzrobots {
    00092
    00093   class Axis;
    00094
    00095 /*   template<typename T> */
    00096 /*   inline T clip(T v,T minimum, T maximum) */
    00097 /*     { return clampBelow(clampAbove(v,minimum),maximum); } */
    00098
    00099 /*template<typename T> */
    00100 /*      inline T abs(T v) */
    00101 /*{ return ((v>0)?v:-v); } */
    00102
    00103   template<typename T>
    00104   inline T normalize360(T v)
    00105     { while (v>360) v-=360; while (v<360) v+=360; return v; }
    00106   /*******************************************************************************/
    00107
    00108
    00109   /**
    00110    * returns a rotation matrix (osg) with the given angles
    00111    * alpha, beta and gamma
    00112    */
    00113   osg::Matrix osgRotate(const double& alpha, const double& beta, const double& gamma);
    00114
    00115   /**
    00116      converts osg matrix to matrix of matrixlib
    00117    */
    00118   matrix::Matrix osgMatrix2Matrixlib(const osg::Matrix& m);
    00119
    00120
    00121   /**
    00122      returns a Rotation matrix that rotates the x-axis along with the given axis.
    00123      The other 2 axis (y,z) are ambiguous.
    00124   */
    00125   osg::Matrix rotationMatrixFromAxisX(const Axis& axis);
    00126
    00127   /**
    00128      returns a Rotation matrix that rotates the z-axis along with the given axis.
    00129      The other 2 axis (x,y) are ambiguous.
    00130   */
    00131   osg::Matrix rotationMatrixFromAxisZ(const Axis& axis);
    00132
    00133   /**
    00134    * returns the angle between two vectors (in rad)
    00135    */
    00136   double getAngle(const osg::Vec3& a, const osg::Vec3& b) ;
    00137
    00138   /// converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
    00139   matrix::Matrix odeRto3x3RotationMatrixT ( const double R[12] );
    00140
    00141   /// converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
    00142   matrix::Matrix odeRto3x3RotationMatrix ( const double R[12] );
    00143
    00144   /*******************************************************************************/
    00145
    00146   /**
    00147      Multiplies 3x3 matrix with position
    00148   */
    00149   Position multMatrixPosition(const matrix::Matrix& r, Position& p);
    00150
    00151   /**
    00152    * returns a rotation matrix with the given angle
    00153    */
    00154   matrix::Matrix getRotationMatrix(const double& angle);
    00155
    00156
    00157   /**
    00158    * returns a translation matrix with the given Position
    00159    */
    00160   matrix::Matrix getTranslationMatrix(const Position& p) ;
    00161
    00162
    00163   /**
    00164    * removes the translation in the matrix
    00165    */
    00166   matrix::Matrix removeTranslationInMatrix(const matrix::Matrix& pose);
    00167
    00168
    00169   /**
    00170    * removes the rotation in the matrix
    00171    */
    00172   matrix::Matrix removeRotationInMatrix(const matrix::Matrix& pose) ;
    00173
    00174
    00175   /**
    00176    * returns the angle between two vectors
    00177    */
    00178   double getAngle(Position a, Position b) ;
    00179
    00180 }
    00181
    00182 #endif