IK_QSegment.cpp File Reference

#include "IK_QSegment.h"
#include <cmath>

Go to the source code of this file.

Functions
static MT_Matrix3x3	RotationMatrix (MT_Scalar sine, MT_Scalar cosine, int axis)
static MT_Matrix3x3	RotationMatrix (MT_Scalar angle, int axis)
static MT_Scalar	EulerAngleFromMatrix (const MT_Matrix3x3 &R, int axis)
static MT_Scalar	safe_acos (MT_Scalar f)
static MT_Scalar	ComputeTwist (const MT_Matrix3x3 &R)
static MT_Matrix3x3	ComputeTwistMatrix (MT_Scalar tau)
static void	RemoveTwist (MT_Matrix3x3 &R)
static MT_Vector3	SphericalRangeParameters (const MT_Matrix3x3 &R)
static MT_Matrix3x3	ComputeSwingMatrix (MT_Scalar ax, MT_Scalar az)
static MT_Vector3	MatrixToAxisAngle (const MT_Matrix3x3 &R)
static bool	EllipseClamp (MT_Scalar &ax, MT_Scalar &az, MT_Scalar *amin, MT_Scalar *amax)

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Detailed Description

Definition in file IK_QSegment.cpp.

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Function Documentation

static MT_Matrix3x3 ComputeSwingMatrix	(	MT_Scalar	ax,
		MT_Scalar	az
	)		[static]

Definition at line 136 of file IK_QSegment.cpp.

References sqrt().

Referenced by IK_QSwingSegment::UpdateAngle(), and IK_QSphericalSegment::UpdateAngle().

static MT_Scalar ComputeTwist

(

const MT_Matrix3x3 &

R

)

[static]

Definition at line 86 of file IK_QSegment.cpp.

References KDL::atan2().

Referenced by RemoveTwist(), IK_QElbowSegment::SetBasis(), IK_QRevoluteSegment::SetBasis(), and SphericalRangeParameters().

static MT_Matrix3x3 ComputeTwistMatrix

(

MT_Scalar

tau

)

[static]

Definition at line 97 of file IK_QSegment.cpp.

References RotationMatrix().

Referenced by RemoveTwist(), IK_QElbowSegment::SetBasis(), IK_QRevoluteSegment::SetBasis(), and IK_QSphericalSegment::UpdateAngle().

static bool EllipseClamp	(	MT_Scalar &	ax,
		MT_Scalar &	az,
		MT_Scalar *	amin,
		MT_Scalar *	amax
	)		[static]

Definition at line 163 of file IK_QSegment.cpp.

References MT_fuzzyZero(), and sqrt().

Referenced by IK_QSwingSegment::UpdateAngle(), and IK_QSphericalSegment::UpdateAngle().

static MT_Scalar EulerAngleFromMatrix	(	const MT_Matrix3x3 &	R,
		int	axis
	)		[static]

Definition at line 61 of file IK_QSegment.cpp.

References KDL::atan2(), MT_EPSILON(), and sqrt().

Referenced by IK_QElbowSegment::SetBasis(), and IK_QRevoluteSegment::SetBasis().

static MT_Vector3 MatrixToAxisAngle

(

const MT_Matrix3x3 &

R

)

[static]

Definition at line 148 of file IK_QSegment.cpp.

References MT_Vector3::length(), MT_fuzzyZero(), and safe_acos().

Referenced by IK_QSwingSegment::UpdateAngle(), and IK_QSphericalSegment::UpdateAngle().

static void RemoveTwist

(

MT_Matrix3x3 &

R

)

[static]

Definition at line 102 of file IK_QSegment.cpp.

References ComputeTwist(), ComputeTwistMatrix(), and T.

Referenced by IK_QElbowSegment::SetBasis(), IK_QSwingSegment::SetBasis(), and IK_QSwingSegment::UpdateAngle().

static MT_Matrix3x3 RotationMatrix	(	MT_Scalar	angle,
		int	axis
	)		[static]

Definition at line 55 of file IK_QSegment.cpp.

References cos(), RotationMatrix(), and sin().

static MT_Matrix3x3 RotationMatrix	(	MT_Scalar	sine,
		MT_Scalar	cosine,
		int	axis
	)		[static]

Definition at line 39 of file IK_QSegment.cpp.

Referenced by ComputeTwistMatrix(), RotationMatrix(), IK_QElbowSegment::SetBasis(), IK_QRevoluteSegment::SetBasis(), IK_QElbowSegment::UpdateAngleApply(), and IK_QRevoluteSegment::UpdateAngleApply().

static MT_Scalar safe_acos

(

MT_Scalar

f

)

[static]

Definition at line 76 of file IK_QSegment.cpp.

References acos(), and MT_PI().

Referenced by MatrixToAxisAngle().

static MT_Vector3 SphericalRangeParameters

(

const MT_Matrix3x3 &

R

)

[static]

Definition at line 114 of file IK_QSegment.cpp.

References ComputeTwist(), MT_abs(), MT_EPSILON(), and sqrt().

Referenced by IK_QSwingSegment::UpdateAngle(), and IK_QSphericalSegment::UpdateAngle().