Robotsystem of the Robot Group Leipzig: mathutils.h Source File

- Main Page
- Namespaces
- Classes
- Files
- Directories
- Examples

- Search for |

- File List
- File Members

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