transform_utils.h File Reference

#include <cmath>

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Classes
struct	vec3
struct	quat
struct	wrench
struct	transform

Functions
quat	QuatConj (quat a)
quat	QuatMulVec3 (quat q, vec3 v)
vec3	Vec3MulQuat (quat v, quat q)
vec3	Vec3Sub (vec3 a, vec3 b)
vec3	Vec3Cross (vec3 a, vec3 b)
vec3	Vec3Rotate (quat q, vec3 v)
quat	QuatFromRpy (double roll, double pitch, double yaw)
wrench	WrenchTransform (wrench w, transform tf)

Function Documentation

QuatConj()

quat QuatConj

(

quat

a

)

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QuatFromRpy()

quat QuatFromRpy	(	double	roll,
		double	pitch,
		double	yaw
	)

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QuatMulVec3()

quat QuatMulVec3	(	quat	q,
		vec3	v
	)

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Vec3Cross()

vec3 Vec3Cross	(	vec3	a,
		vec3	b
	)

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Vec3MulQuat()

vec3 Vec3MulQuat	(	quat	v,
		quat	q
	)

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Vec3Rotate()

vec3 Vec3Rotate	(	quat	q,
		vec3	v
	)

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Vec3Sub()

vec3 Vec3Sub	(	vec3	a,
		vec3	b
	)

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WrenchTransform()

wrench WrenchTransform	(	wrench	w,
		transform	tf
	)

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