fastcat 0.13.15
C++ EtherCAT Device Command & Control Library
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transform_utils.h
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1#ifndef FASTCAT_TRANSFORM_UTILS_H_
2#define FASTCAT_TRANSFORM_UTILS_H_
3
4// Include c then c++ libraries
5#include <cmath>
6
7struct vec3 {
8 double x, y, z;
9};
10
11struct quat {
12 double u, x, y, z;
13};
14
19
24
26
28 vec3 v); // Multiply quatern by vector and return quatern
30 quat q); // Multiply vector by quatern and return vector
31vec3 Vec3Sub(vec3 a, vec3 b);
34quat QuatFromRpy(double roll, double pitch, double yaw);
36
37#endif
Definition transform_utils.h:11
double u
Definition transform_utils.h:12
double y
Definition transform_utils.h:12
double x
Definition transform_utils.h:12
double z
Definition transform_utils.h:12
Definition transform_utils.h:20
quat rotation
Definition transform_utils.h:22
vec3 position
Definition transform_utils.h:21
Definition transform_utils.h:7
double z
Definition transform_utils.h:8
double y
Definition transform_utils.h:8
double x
Definition transform_utils.h:8
Definition transform_utils.h:15
vec3 forces
Definition transform_utils.h:16
vec3 torques
Definition transform_utils.h:17
quat QuatMulVec3(quat q, vec3 v)
Definition transform_utils.cc:10
quat QuatFromRpy(double roll, double pitch, double yaw)
Definition transform_utils.cc:45
vec3 Vec3Sub(vec3 a, vec3 b)
Definition transform_utils.cc:28
quat QuatConj(quat a)
Definition transform_utils.cc:3
wrench WrenchTransform(wrench w, transform tf)
Definition transform_utils.cc:59
vec3 Vec3Rotate(quat q, vec3 v)
Definition transform_utils.cc:43
vec3 Vec3MulQuat(quat v, quat q)
Definition transform_utils.cc:20
vec3 Vec3Cross(vec3 a, vec3 b)
Definition transform_utils.cc:34