Blender
V3.3
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#include <Eigen/Core>
#include <Eigen/Geometry>
#include <cmath>
Go to the source code of this file.
Functions | |
static bool | FuzzyZero (double x) |
static double | Clamp (const double x, const double min, const double max) |
static Eigen::Matrix3d | CreateMatrix (double xx, double xy, double xz, double yx, double yy, double yz, double zx, double zy, double zz) |
static Eigen::Matrix3d | RotationMatrix (double sine, double cosine, int axis) |
static Eigen::Matrix3d | RotationMatrix (double angle, int axis) |
static double | EulerAngleFromMatrix (const Eigen::Matrix3d &R, int axis) |
static double | safe_acos (double f) |
static Eigen::Vector3d | normalize (const Eigen::Vector3d &v) |
static double | angle (const Eigen::Vector3d &v1, const Eigen::Vector3d &v2) |
static double | ComputeTwist (const Eigen::Matrix3d &R) |
static Eigen::Matrix3d | ComputeTwistMatrix (double tau) |
static void | RemoveTwist (Eigen::Matrix3d &R) |
static Eigen::Vector3d | SphericalRangeParameters (const Eigen::Matrix3d &R) |
static Eigen::Matrix3d | ComputeSwingMatrix (double ax, double az) |
static Eigen::Vector3d | MatrixToAxisAngle (const Eigen::Matrix3d &R) |
static bool | EllipseClamp (double &ax, double &az, double *amin, double *amax) |
Variables | |
static const double | IK_EPSILON = 1e-20 |
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inlinestatic |
Definition at line 112 of file IK_Math.h.
References safe_acos(), v1, and v2.
Referenced by RotationMatrix().
Definition at line 167 of file IK_Math.h.
References sqrt().
Referenced by IK_QSphericalSegment::UpdateAngle(), and IK_QSwingSegment::UpdateAngle().
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inlinestatic |
Definition at line 117 of file IK_Math.h.
References KDL::atan2(), and R.
Referenced by RemoveTwist(), and SphericalRangeParameters().
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inlinestatic |
Definition at line 128 of file IK_Math.h.
References RotationMatrix().
Referenced by RemoveTwist(), IK_QRevoluteSegment::SetBasis(), IK_QElbowSegment::SetBasis(), and IK_QSphericalSegment::UpdateAngle().
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inlinestatic |
Definition at line 33 of file IK_Math.h.
Referenced by IK_SetTransform(), IK_SolverAddGoalOrientation(), RotationMatrix(), IK_QSphericalSegment::UpdateAngle(), and IK_QSwingSegment::UpdateAngle().
Definition at line 192 of file IK_Math.h.
References FuzzyZero(), sqrt(), x, and z.
Referenced by IK_QSphericalSegment::UpdateAngle(), and IK_QSwingSegment::UpdateAngle().
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inlinestatic |
Definition at line 71 of file IK_Math.h.
References KDL::atan2(), IK_EPSILON, R, sqrt(), and t.
Definition at line 23 of file IK_Math.h.
References fabs(), IK_EPSILON, and x.
Referenced by EllipseClamp(), IK_QCenterOfMassTask::IK_QCenterOfMassTask(), MatrixToAxisAngle(), normalize(), IK_QJacobianSolver::Setup(), IK_QSphericalSegment::UpdateAngle(), and IK_QSwingSegment::UpdateAngle().
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inlinestatic |
Definition at line 179 of file IK_Math.h.
References Freestyle::c, FuzzyZero(), l, R, and safe_acos().
Referenced by IK_QSphericalSegment::UpdateAngle(), and IK_QSwingSegment::UpdateAngle().
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inlinestatic |
Definition at line 104 of file IK_Math.h.
References FuzzyZero(), len, and v.
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inlinestatic |
Definition at line 133 of file IK_Math.h.
References ComputeTwist(), ComputeTwistMatrix(), R, and T.
Referenced by IK_QSwingSegment::SetBasis(), IK_QElbowSegment::SetBasis(), and IK_QSwingSegment::UpdateAngle().
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inlinestatic |
Definition at line 66 of file IK_Math.h.
References angle(), KDL::cos(), RotationMatrix(), and KDL::sin().
Definition at line 56 of file IK_Math.h.
References CreateMatrix().
Referenced by ComputeTwistMatrix(), RotationMatrix(), IK_QRevoluteSegment::SetBasis(), IK_QElbowSegment::SetBasis(), IK_QRevoluteSegment::UpdateAngleApply(), and IK_QElbowSegment::UpdateAngleApply().
Definition at line 93 of file IK_Math.h.
References KDL::acos(), and M_PI.
Referenced by angle(), and MatrixToAxisAngle().
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inlinestatic |
Definition at line 145 of file IK_Math.h.
References ComputeTwist(), fabs(), IK_EPSILON, R, and sqrt().
Referenced by IK_QSphericalSegment::UpdateAngle(), and IK_QSwingSegment::UpdateAngle().
Definition at line 21 of file IK_Math.h.
Referenced by EulerAngleFromMatrix(), FuzzyZero(), and SphericalRangeParameters().