Robotsystem of the Robot Group Leipzig: mathutils.cpp File Reference

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# mathutils.cpp File Reference

`#include <math.h>`
`#include <osg/Matrix>`
`#include "mathutils.h"`
`#include "axis.h"`

Include dependency graph for mathutils.cpp:

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