- Aldebaran documentation |
- C++ Libraries |
- index

libalmath 2.8.7.4

- Main Page
- Related Pages
- Modules
- Namespaces
- Classes
- Files

- Namespace List
- Namespace Members

All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
Namespaces | Classes | Typedefs | Functions | Variables
AL::Math Namespace Reference

## Namespaces
| DSP
| glTF
| RigidBodySystemBuilder

## Classes
class | Shape3D
class | Sphere
class | RoundedRectangle
class | Pill
class | Plane
class | HalfSpace
class | Rectangle
class | HalfLine
class | Shape3DVisitor
class | NotImplementedShape3DVisitor
struct | BodyMass
struct | Displacement
| Struct composed of a Position3D and a Quaternion More...
struct | Pose2D
| A pose in a 2-dimentional space. More...
struct | Position2D
| Create and play with a Position2D. More...
struct | Position3D
| Create and play with a Position3D. More...
struct | Position6D
| Create and play with a Position6D. More...
struct | PositionAndVelocity
| Create and play with a PositionAndVelocity. More...
struct | Quaternion
| Create and play with a Quaternion. More...
struct | Rotation
| A 3*3 rotation matrix. More...
struct | Rotation3D
| A Rotation3D give 3 composed angles in radians. More...
struct | Transform
| A homogenous transformation matrix. More...
struct | TransformAndVelocity6D
| Struct composed of a Transform and a Velocity6D More...
struct | Velocity3D
| Create and play with a Velocity3D. More...
struct | Velocity6D
| Create and play with a Velocity6D. More...
struct | Point2Di
| Create a Point2Di. Point2Di are used on objects that deal with pixels only, and should not care about metric distances. More...
struct | Pose2Di
| Create a Pose2Di. Pose2Di are used on objects that deal with pixels only, and should not care about metric distances. More...
struct | OccupancyMapParams
| Create a OccupancyMapParams. OccupancyMapParams are used used to define occupancy maps and to provide helpers to change from metrical to pixel frames. Maps are squared. More...

## Typedefs
typedef Eigen::Matrix< float, 3, 4 > | Matrix34f
typedef Eigen::Matrix< float, 3, 4, Eigen::RowMajor > | Matrix34frm
typedef Eigen::Matrix< float, 6, 1 > | Vector6f
typedef std::bitset< 6 > | AXIS_MASK
| Definition of an AXIS_MASK as a bit set. More...
typedef std::vector< Pose2D > | Pose2DVect
typedef std::vector< Pose2Di > | Pose2DiVect

## Functions
ALMATH_API void | getSphereCentersFromPill (float pHalfExtent, const Math::Transform &pEndTfToPillCenter, Math::Position3D &pCenterA, Math::Position3D &pCenterB)
ALMATH_API void | computePillParameters (const Math::Position3D &pEndTfToCenterA, const Math::Position3D &pEndTfToCenterB, float &pHalfExtent, Math::Transform &pEndTfToPillCenter)
Eigen::Map< const Matrix34frm > | toEigenMapMatrix34 (const Math::Transform &tr)
Matrix34f | toEigenMatrix34 (const Math::Transform &tr)
Eigen::Matrix3f | toEigenMatrix3 (const Math::Transform &tr)
template<typename T >
Eigen::Quaternion< T > | toEigenQuaternion (const Math::Transform &tr)
Eigen::Vector3f | toEigenVector3 (const Math::Position3D &v)
Eigen::AffineCompact3f | toEigenAffineCompact3 (const Math::Transform &tr)
template<typename Derived0 >
void | toALMathTransform (const Eigen::MatrixBase< Derived0 > &in, Transform &out)
template<typename Derived0 >
Transform | toALMathTransform (const Eigen::MatrixBase< Derived0 > &m)
template<int _Mode, int _Options>
void | toALMathTransform (const Eigen::Transform< float, 3, _Mode, _Options > &in, Transform &out)
template<int _Mode, int _Options>
Transform | toALMathTransform (const Eigen::Transform< float, 3, _Mode, _Options > &tr)
template<typename Derived0 >
Position3D | toALMathPosition3D (const Eigen::MatrixBase< Derived0 > &in)
template<typename Derived0 >
void | toALMathVelocity6D (const Eigen::MatrixBase< Derived0 > &in, Velocity6D &out)
template<typename Derived0 >
Velocity6D | toALMathVelocity6D (const Eigen::MatrixBase< Derived0 > &in)
template<class RandomAccessRange >
Math::Transform | averageTransforms (const RandomAccessRange &range)
Transform | transformFromQiTransform (const qi::geometry::Transform &r)
qi::geometry::Transform | qiTransformFromALMath (const Transform &tf)
AL::Math::Pose2D | pose2DFromQiTransform (const qi::geometry::Transform &r)
qi::geometry::Transform | qiTransformFromPose2D (const Pose2D &pose)
template<typename Scalar , typename Derived0 , typename Derived1 >
void | addPointMassInertia (Scalar mass, const Eigen::MatrixBase< Derived0 > &position, Eigen::MatrixBase< Derived1 > &output)
template<typename T >
bool | operator== (const BodyMass< T > &lhs, const BodyMass< T > &rhs)
template<typename T , typename BodyMassRange >
BodyMass< T > | squashBodyMasses (const BodyMassRange &bodymasses)
template<typename T >
BodyMass< T > | operator+ (const BodyMass< T > &lhs, const BodyMass< T > &rhs)
ros::Time | toValidRosTime (qi::Duration time_since_epoch)
qi::Duration | toQiDuration (ros::Time time)
Eigen::Quaterniond | eigenQuaternionFromUrdfRpy (const AL::urdf::Array3d &rpy)
template<typename T >
AL::urdf::Array3d | urdfRpyFromEigenMatrix3 (const T &t)
Eigen::Isometry3d | toEigenTransform (const AL::urdf::Pose &p)
Eigen::AffineCompact3d | toEigenAffineCompact3 (const AL::urdf::Pose &p)
Eigen::Isometry3d | toEigenIsometry3 (const AL::urdf::Pose &p)
template<typename T >
AL::urdf::Pose | urdfPoseFromEigenTransform (const T &t)
Eigen::Matrix3d | toEigenMatrix3 (const AL::urdf::Inertial &inertial)
template<typename Scalar , typename EPose , typename Derived1 >
void | squashInertial (Scalar mass_a, const EPose &pose_a, const Eigen::MatrixBase< Derived1 > &inertia_a, Scalar mass_b, const EPose &pose_b, const Eigen::MatrixBase< Derived1 > &inertia_b, Scalar &mass_c, EPose &pose_c, Eigen::MatrixBase< Derived1 > &inertia_c)
template<typename Scalar , typename Derived0 , typename Derived1 >
void | urdfInertialToEigen (const AL::urdf::Inertial &inertial, Scalar &mass, Eigen::MatrixBase< Derived0 > &com_a, Eigen::MatrixBase< Derived1 > &inertia_a)
ALMATH_API void | buildRigidBodySystemFromUrdf (RigidBodySystemBuilder::Interface< double > &builder, urdf::ptree &pt, bool remove_root_joint=false, bool make_continuous_joints_fixed=false)
ALMATH_API void | buildRigidBodySystemFromUrdf (RigidBodySystemBuilder::Interface< double > &builder, std::istream &is, bool remove_root_joint=false, bool make_continuous_joints_fixed=false)
ALMATH_API std::vector< Pose2D > | getDubinsSolutions (const Pose2D &pTargetPose, const float pCircleRadius)
| Get the dubins solutions. More...
ALMATH_API void | modulo2PIInPlace (float &pAngle)
| Set an angle between ]-PI, PI]. More...
ALMATH_API float | modulo2PI (float pAngle)
| Return an angle between ]-PI, PI]. More...
ALMATH_API float | meanAngle (const std::vector< float > &pAngles)
| Returns the mean of given angles (between ]-PI, PI]). It is defined by the direction of the mean of all unitary vectors corresponding to the given angles. If that mean vector is a null vector, then the angular mean is not defined and the method will throw. For example, meanAngle([0, PI]) throws. More...
ALMATH_API float | weightedMeanAngle (const std::vector< float > &pAngles, const std::vector< float > &pWeights)
| Returns the weighted mean of given angles (between ]-PI, PI]). It is defined by the direction of the mean of all unitary vectors corresponding to the given angles, multiplied by the given weights. If that mean vector is a null vector, then the angular mean is not defined and the method will throw. For example, meanAngle([0, PI], [1.0, 1.0]) throws. More...
ALMATH_API bool | clipData (const float &pMin, const float &pMax, float &pData)
| Clip an input data inside min and max limit. More...
ALMATH_API bool | clipData (const float &pMin, const float &pMax, std::vector< float > &pData)
ALMATH_API bool | clipData (const float &pMin, const float &pMax, std::vector< std::vector< float > > &pData)
ALMATH_API void | changeReferencePose2D (const float &pTheta, const Pose2D &pPosIn, Pose2D &pPosOut)
ALMATH_API void | changeReferencePose2DInPlace (const float &pTheta, Pose2D &pPosOut)
| Change orientation of a Pose2D in place. More...
ALMATH_API Position6D | position6DFromVelocity6D (const Velocity6D &pVel)
| Create a Position6D from a Velocity6D More...
ALMATH_API void | position2DFromPose2DInPlace (const Pose2D &pPose2D, Position2D &pPosition2D)
| Compute a Position2D from a Pose2D. The theta member of the Pose2D is not taken into account. More...
ALMATH_API Position2D | position2DFromPose2D (const Pose2D &pPose2D)
| Create a Position2D from a Pose2D More...
ALMATH_API Position3D | position3DFromPosition6D (const Position6D &pPosition6D)
| Create a Position3D from a Position6D More...
ALMATH_API Position3D | operator* (const Rotation &pRot, const Position3D &pPos)
| Overloading of operator * between Rotation and Position3D: More...
ALMATH_API Position3D | operator* (const Quaternion &pQuat, const Position3D &pPos)
| Overloading of operator * between Quaternion and Position3D More...
ALMATH_API Velocity6D | operator* (const float pVal, const Position6D &pPos)
| Overloading of operator * for float to Position6D, give a Velocity6D: More...
ALMATH_API Velocity3D | operator* (const float pVal, const Position3D &pPos)
| Overloading of operator * for float to Position3D, give a Velocity3D: More...
ALMATH_API Velocity3D | operator* (const Rotation &pRot, const Velocity3D &pVel)
| Overloading of operator * between Rotation and Velocity3D: More...
ALMATH_API Rotation | rotationFromAngleDirection (const float &pTheta, const Position3D &pPos)
| Creates a 3*3 Rotation Matrix from a an angle and a normalized Position3D. More...
ALMATH_API void | position6DFromPose2DInPlace (const Pose2D &pPose2D, Position6D &pPosition6D)
| Compute a Position6D from a Pose2D. More...
ALMATH_API Position6D | position6DFromPose2D (const Pose2D &pPose2D)
| Create a Position6D from a Pose2D. More...
ALMATH_API void | position6DFromPosition3DInPlace (const Position3D &pPosition3D, Position6D &pPosition6D)
| Compute a Position6D from a Position3D. More...
ALMATH_API Position6D | position6DFromPosition3D (const Position3D &pPosition3D)
| Create a Position6D from a Position3D. More...
ALMATH_API void | pose2DFromPosition6DInPlace (const Position6D &pPosition6D, Pose2D &pPose2D)
| Compute a Pose2D from a Position6D. More...
ALMATH_API Pose2D | pose2DFromPosition6D (const Position6D &pPosition6D)
| Create a Pose2D from a Position6D. More...
ALMATH_API void | pose2DFromPosition2DInPlace (const Position2D &pPosition2D, const float pAngle, Pose2D &pPose2D)
| Compute a Pose2D from a Position2D. pPose2D.x = pPosition2D.x pPose2D.y = pPosition2D.y pPose2D.theta = pAngle More...
ALMATH_API Pose2D | pose2DFromPosition2D (const Position2D &pPosition2D, const float pAngle=0.0f)
| Create a Pose2D from a Position2D. More...
ALMATH_API Position2D | operator* (const Pose2D &pVal, const Position2D &pPos)
| Overloading of operator * for Pose2D to Position2D, give a Position2D: More...
ALMATH_API void | quaternionFromRotation3D (const Rotation3D &pRot3D, Quaternion &pQuaternion)
| Create a Quaternion from a Rotation3D when composed in the following order: Rz(wz) * Ry(wy) * Rx(wx) More...
ALMATH_API Quaternion | quaternionFromRotation3D (const Rotation3D &pRot3D)
ALMATH_API void | rotationFromQuaternion (const Quaternion &pQua, Rotation &pRot)
| Create a Rotation Matrix from a Quaternion More...
ALMATH_API Rotation | rotationFromQuaternion (const Quaternion &pQua)
ALMATH_API void | rotation3DFromQuaternion (const Quaternion &pQuaterion, Rotation3D &pRot3D)
| Create a Rotation3D from a Quaternion when composed in the following order: Rz(wz) * Ry(wy) * Rx(wx) More...
ALMATH_API Rotation3D | rotation3DFromQuaternion (const Quaternion &pQuaternion)
ALMATH_API void | quaternionPosition3DFromPosition6D (const Position6D &pPos6D, Quaternion &pQua, Position3D &pPos3D)
| Convert a Position6D to Quaternion and Position3D More...
ALMATH_API void | pointMassRotationalInertia (float pMass, const Position3D &pPos, std::vector< float > &pInertia)
| Return the rotational inertia, expressed at the origin, of a point mass located at pPos. The inertia value is More...
ALMATH_API std::ostream & | operator<< (std::ostream &pStream, const Pose2D &pPos)
| Overloading of operator << for Pose2D. More...
ALMATH_API std::ostream & | operator<< (std::ostream &pStream, const Position2D &pPos)
| Overloading of operator << for Position2D. More...
ALMATH_API std::ostream & | operator<< (std::ostream &pStream, const Position3D &pPos)
| Overloading of operator << for Position3D. More...
ALMATH_API std::ostream & | operator<< (std::ostream &pStream, const Position6D &pPos)
| Overloading of operator << for Position6D. More...
ALMATH_API std::ostream & | operator<< (std::ostream &pStream, const PositionAndVelocity &pPosVel)
| Overloading of operator << for PositionAndVelocity. More...
ALMATH_API std::ostream & | operator<< (std::ostream &pStream, const Rotation &pRot)
| Overloading of operator << for Rotation. More...
ALMATH_API std::ostream & | operator<< (std::ostream &pStream, const Rotation3D &pRot)
| Overloading of operator << for Rotation3D. More...
ALMATH_API std::ostream & | operator<< (std::ostream &pStream, const Transform &pT)
| Overloading of operator << for Transform. More...
ALMATH_API std::ostream & | operator<< (std::ostream &pStream, const TransformAndVelocity6D &pTV)
| Overloading of operator << for TransformAndVelocity6D. More...
ALMATH_API std::ostream & | operator<< (std::ostream &pStream, const Velocity3D &pVel)
| Overloading of operator << for Velocity3D. More...
ALMATH_API std::ostream & | operator<< (std::ostream &pStream, const Quaternion &pQua)
| Overloading of operator << for Quaternion. More...
ALMATH_API std::ostream & | operator<< (std::ostream &pStream, const Velocity6D &pVel)
| Overloading of operator << for Velocity6D. More...
ALMATH_API std::string | toSpaceSeparated (const Position3D &pPos)
| Create a string of Position3D. More...
ALMATH_API std::string | toSpaceSeparated (const Rotation3D &pPos)
| Create a string of Rotation3D. More...
ALMATH_API std::string | toSpaceSeparated (const Velocity6D &pVel)
| Create a string of Velocity6D. More...
ALMATH_API std::string | toSpaceSeparated (const Transform &pT)
| Create a string of Transform. More...
ALMATH_API std::string | toSpaceSeparated (const Position6D &pPos)
| Create a string of Position6D. More...
ALMATH_API std::string | toSpaceSeparated (const Quaternion &pQuat)
| Create a string of Quaternion. More...
ALMATH_API void | transformLogarithmInPlace (const Transform &pT, Velocity6D &pVel)
| Compute the logarithme of a transform. Angle must be between More...
ALMATH_API Velocity6D | transformLogarithm (const Transform &pT)
| Compute the logarithme of a transform. Angle must be between More...
ALMATH_API Transform | velocityExponential (const Velocity6D &pVel)
ALMATH_API void | velocityExponentialInPlace (const Velocity6D &pVel, Transform &pT)
ALMATH_API void | changeReferenceVelocity6D (const Transform &pT, const Velocity6D &pVelIn, Velocity6D &pVelOut)
ALMATH_API void | changeReferencePosition6D (const Transform &pT, const Position6D &pPosIn, Position6D &pPosOut)
ALMATH_API void | changeReferencePosition3DInPlace (const Transform &pT, Position3D &pPosOut)
ALMATH_API void | changeReferenceTransposePosition3DInPlace (const Transform &pT, Position3D &pPosOut)
ALMATH_API void | changeReferencePosition3D (const Transform &pT, const Position3D &pPosIn, Position3D &pPosOut)
ALMATH_API void | changeReferenceTransposePosition3D (const Transform &pT, const Position3D &pPosIn, Position3D &pPosOut)
ALMATH_API void | changeReferenceTransform (const Transform &pT, const Transform &pTIn, Transform &pTOut)
ALMATH_API void | changeReferenceTransposeTransform (const Transform &pT, const Transform &pTIn, Transform &pTOut)
ALMATH_API void | changeReferenceTransposeVelocity6D (const Transform &pT, const Velocity6D &pVelIn, Velocity6D &pVelOut)
ALMATH_API void | changeReferenceTransposePosition6D (const Transform &pT, const Position6D &pPosIn, Position6D &pPosOut)
ALMATH_API void | transformMeanInPlace (const Transform &pTIn1, const Transform &pTIn2, const float &pVal, Transform &pTOut)
| Preform a logarithmic mean of pTIn1 and pTIn2 and put it in pTout. More...
ALMATH_API Transform | transformMean (const Transform &pTIn1, const Transform &pTIn2, const float &pVal=0.5f)
| Preform a logarithmic mean of pTIn1 and pTIn2. More...
ALMATH_API Transform | transformFromRotationPosition3D (const Rotation &pRot, const float &pX, const float &pY, const float &pZ)
| Create a Transform from 3D cartesian coordiantes and a Rotation. More...
ALMATH_API Transform | transformFromRotationPosition3D (const Rotation &pRot, const Position3D &pPos)
| Create a Transform from a Position3D and a Rotation. More...
ALMATH_API void | transformFromPosition3DInPlace (const Position3D &pPosition, Transform &pTransform)
| Modify pTransform to set the translation part to pPosition. More...
ALMATH_API Transform | transformFromPosition3D (const Position3D &pPosition)
| Create a 4*4 transform matrix from cartesian coordinates given in pPosition. More...
ALMATH_API void | transformFromRotationInPlace (const Rotation &pRotation, Transform &pTransform)
| Modify the rotation part of the transform. The translation part of the transform is not modified. More...
ALMATH_API Transform | transformFromRotation (const Rotation &pRotation)
ALMATH_API void | rotationFromTransformInPlace (const Transform &pTransform, Rotation &pRotation)
| Extract the position coordinates from a Transform. More...
ALMATH_API Rotation | rotationFromTransform (const Transform &pTransform)
ALMATH_API Rotation3D | rotation3DFromRotation (const Rotation &pRotation)
| return 3 angles which result in the equivalent rotation when composed in the following order: Rz(wz) * Ry(wy) * Rx(wx) = R More...
ALMATH_API Rotation | rotationFromAxesXY (const Position3D &pX, const Position3D &pY)
| return a Rotation Matrix initialized with its direction vectors X and Y in world coordinates. These vectors represent, respectively, the first and second columns of the Rotation matrix. The vectors must be unitary and orthogonal. More...
ALMATH_API Rotation | rotationFromAxesXZ (const Position3D &pX, const Position3D &pZ)
| return a Rotation Matrix initialized with its direction vectors X and Z in world coordinates. These vectors represent, respectively, the first and third columns of the Rotation matrix. The vectors must be unitary and orthogonal. More...
ALMATH_API Rotation | rotationFromAxesYZ (const Position3D &pY, const Position3D &pZ)
| return a Rotation Matrix initialized with its direction vectors X and Y in world coordinates. These vectors represent, respectively, the second and third columns of the Rotation matrix. The vectors must be unitary and orthogonal. More...
ALMATH_API Rotation | rotationFromAxesXYZ (const Position3D &pX, const Position3D &pY, const Position3D &pZ)
| return a Rotation Matrix initialized with its direction vectors in world coordinates. The vectors represent the columns of the Rotation matrix. The vectors must be unitary and orthogonal. More...
ALMATH_API void | position6DFromTransformInPlace (const Transform &pT, Position6D &pPos)
| Compute Position6D corresponding to the Transform. More...
ALMATH_API Position6D | position6DFromTransform (const Transform &pT)
| Compute Position6D corresponding to 4*4 Homogenous Transform. More...
ALMATH_API void | transformFromPose2DInPlace (const Pose2D &pPose, Transform &pT)
| Compute a Transform from a Pose2D. More...
ALMATH_API Transform | transformFromPose2D (const Pose2D &pPose)
| Create a Transform from a Pose2D. More...
ALMATH_API void | pose2DFromTransformInPlace (const Transform &pT, Pose2D &pPos)
| Compute a Pose2D from a Transform. More...
ALMATH_API Pose2D | pose2DFromTransform (const Transform &pT)
| Create a Pose2D from a Transform. More...
ALMATH_API void | position2DFromTransformInPlace (const Transform &pT, Position2D &pPos)
| Compute a Position2D from a Transform. More...
ALMATH_API Position2D | position2DFromTransform (const Transform &pT)
| Create a Position2D from a Transform. More...
ALMATH_API Transform | transformFromRotation3D (const Rotation3D &pRotation)
| Create a Transform from the 3 angles stored in a Rotation3D. The angles are composed in the following order: Rz(wz) * Ry(wy) * Rx(wx) = R More...
ALMATH_API Transform | transformFromPosition6D (const Position6D &pPosition6D)
| Create a Transform from a Position6D. More...
ALMATH_API void | position6DFromTransformDiffInPlace (const Transform &pCurrent, const Transform &pTarget, Position6D &result)
| Computes a 6 differential motion required to move from a 4*4 Homogenous transform matrix Current to a 4*4 Homogenous transform matrix target. More...
ALMATH_API Position6D | position6DFromTransformDiff (const Transform &pCurrent, const Transform &pTarget)
| Computes a 6 differential motion require to move from a 4*4 Homogenous transform matrix Current to a 4*4 Homogenous transform matrix target. More...
ALMATH_API void | position3DFromTransformInPlace (const Transform &pT, Position3D &pPos)
| Compute a Position3D from a Transform. More...
ALMATH_API Position3D | position3DFromTransform (const Transform &pT)
| Create a Position3D from a Transform. More...
ALMATH_API Rotation3D | rotation3DFromTransform (const Transform &pT)
| Create a Rotation3D (Roll, Pitch, Yaw) corresponding to the rotational part of the Transform. R = Rz(wz) * Ry(wy) * Rx(wx) More...
ALMATH_API void | transformFromRotVecInPlace (const int pAxis, const float pTheta, const Position3D &pPos, Transform &pT)
| Compute a Transform from More...
ALMATH_API Transform | transformFromRotVec (const int pAxis, const float pTheta, const Position3D &pPos)
ALMATH_API void | transformFromRotVecInPlace (const Position3D &pPos, Transform &pT)
ALMATH_API Transform | transformFromRotVec (const Position3D &pPos)
ALMATH_API Transform | transformFromRotVec (const int &pAxis, const float &pTheta)
ALMATH_API Position3D | operator* (const Transform &pT, const Position2D &pPos)
ALMATH_API Position3D | operator* (const Transform &pT, const Position3D &pPos)
ALMATH_API Transform | axisRotationProjection (const Position3D &pAxis, const Transform &pT)
ALMATH_API Rotation | axisRotationProjection (const Position3D &pAxis, const Rotation &pRot)
ALMATH_API void | axisRotationProjectionInPlace (const Position3D &pAxis, Transform &pT)
ALMATH_API void | axisRotationProjectionInPlace (const Position3D &pAxis, Rotation &pRot)
ALMATH_API void | orthogonalSpace (const Position3D &pPos, Transform &pTf)
ALMATH_API Transform | orthogonalSpace (const Position3D &pPos)
ALMATH_API Transform | transformFromQuaternion (const Quaternion &pQua)
ALMATH_API Quaternion | quaternionFromTransform (const Transform &pT)
ALMATH_API Transform | transformFromDisplacement (const Displacement &pDisp)
ALMATH_API Displacement | displacementFromTransform (const Transform &pTrans)
ALMATH_API const bool | avoidFootCollision (const std::vector< Position2D > &pLFootBoundingBox, const std::vector< Position2D > &pRFootBoundingBox, const bool &pIsLeftSupport, Pose2D &pMove)
| Compute the best position(orientation) of the foot to avoid collision. More...
ALMATH_API const bool | clipFootWithEllipse (const float &pMaxFootX, const float &pMaxFootY, Pose2D &pMove)
| Clip foot move with ellipsoid function More...
ALMATH_API const bool | areTwoBoxesInCollision (const std::vector< Position2D > &pBoxA, const std::vector< Position2D > &pBoxB)
ALMATH_API void | computeBox (const std::vector< Position2D > &pInitBox, const Pose2D &pMove, std::vector< Position2D > &pMovedBox)
ALMATH_API const void | dichotomie (const std::vector< Position2D > &pFixedBox, const std::vector< Position2D > &pMovingBox, Pose2D &pMove)
ALMATH_API bool | intersectionSegment2D (const Position2D &pA1, const Position2D &pA2, const Position2D &pB1, const Position2D &pB2, Position2D &pC)
ALMATH_API bool | isAxisMask (const int pAxisMask)
| Validates an AxisMask. More...
ALMATH_API float | distanceSquared (const Pose2D &pPos1, const Pose2D &pPos2)
| Compute the squared distance between two Pose2D. More...
ALMATH_API float | distance (const Pose2D &pPos1, const Pose2D &pPos2)
| Compute the distance between two Pose2D. More...
ALMATH_API void | pose2dInvertInPlace (Pose2D &pPos)
| Inverse the given Pose2D in place: More...
ALMATH_API Pose2D | pinv (const Pose2D &pPos)
| Alternative name for inverse: return the pose2d inverse of the given Pose2D. More...
ALMATH_API Pose2D | pose2dDiff (const Pose2D &pPos1, const Pose2D &pPos2)
| Compute the Pose2D between the actual Pose2D and the one give in argument result: More...
ALMATH_API Pose2D | pose2DInverse (const Pose2D &pPos)
| Compute the inverse of a Pose2D. More...
ALMATH_API void | pose2DInverse (const Pose2D &pPos, Pose2D &pRes)
| Compute the inverse of a Pose2D. More...
ALMATH_API Position2D | operator* (const float pM, const Position2D &pPos1)
ALMATH_API float | distanceSquared (const Position2D &pPos1, const Position2D &pPos2)
| Compute the squared distance between two Position2D. More...
ALMATH_API float | distance (const Position2D &pPos1, const Position2D &pPos2)
| Compute the distance between two Position2D : More...
ALMATH_API float | norm (const Position2D &pPos)
| Compute the norm of a Position2D. More...
ALMATH_API Position2D | normalize (const Position2D &pPos)
| Normalize a Position2D. More...
ALMATH_API float | dotProduct (const Position2D &pPos1, const Position2D &pPos2)
| Compute the dot Product between two Position2D: More...
ALMATH_API float | crossProduct (const Position2D &pPos1, const Position2D &pPos2)
| Compute the cross Product of two Position2D. More...
ALMATH_API void | crossProduct (const Position2D &pPos1, const Position2D &pPos2, float &pRes)
| Compute the cross Product of two Position2D. More...
ALMATH_API float | distanceSquared (const Position3D &pPos1, const Position3D &pPos2)
| Compute the squared distance between two Position3D: More...
ALMATH_API float | distance (const Position3D &pPos1, const Position3D &pPos2)
| Compute the distance between two Position3D: More...
ALMATH_API float | norm (const Position3D &pPos)
| Compute the norm of a Position3D: More...
ALMATH_API Position3D | normalize (const Position3D &pPos)
| Normalize a Position3D: More...
ALMATH_API float | dotProduct (const Position3D &pPos1, const Position3D &pPos2)
| Compute the dot Product between two Position3D: More...
ALMATH_API Position3D | crossProduct (const Position3D &pPos1, const Position3D &pPos2)
| Compute the cross Product between two Position3D: More...
ALMATH_API void | crossProduct (const Position3D &pPos1, const Position3D &pPos2, Position3D &pRes)
| Compute the cross Product between two Position3D: More...
ALMATH_API bool | isUnitVector (const Position3D &pPos, const float &pEpsilon=0.0001f)
| Checks if the norm of a Position3D is near to 1.0 More...
ALMATH_API bool | isOrthogonal (const Position3D &pPos1, const Position3D &pPos2, const float &pEpsilon=0.0001f)
| Checks if two Position3D are orthogonal More...
ALMATH_API float | distanceSquared (const Position6D &pPos1, const Position6D &pPos2)
| Compute the squared distance of translation part (x, y and z) between two Position6D: More...
ALMATH_API float | distance (const Position6D &pPos1, const Position6D &pPos2)
| Compute the distance of translation part (x, y and z) between two Position6D: More...
ALMATH_API float | norm (const Position6D &pPos)
| Compute the norm of a Position6D: More...
ALMATH_API Position6D | normalize (const Position6D &pPos)
| Normalize a Position6D: More...
ALMATH_API float | norm (const Quaternion &pQua)
| Compute the norm of a Quaternion: More...
ALMATH_API Quaternion | normalize (const Quaternion &pQua)
| Normalize a Quaternion: More...
ALMATH_API void | quaternionInverse (const Quaternion &pQua, Quaternion &pQuaOut)
| Return the quaternion inverse of the given Quaternion: More...
ALMATH_API Quaternion | quaternionInverse (const Quaternion &pQua)
| Return the quaternion inverse of the given Quaternion More...
ALMATH_API Quaternion | quaternionFromAngleAndAxisRotation (const float pAngle, const float pAxisX, const float pAxisY, const float pAxisZ)
| Create a Quaternion initialized with explicit angle and axis rotation. More...
ALMATH_API void | angleAndAxisRotationFromQuaternion (const Quaternion &pQuaternion, float &pAngle, float &pAxisX, float &pAxisY, float &pAxisZ)
| Compute angle and axis rotation from a Quaternion. More...
ALMATH_API std::vector< float > | angleAndAxisRotationFromQuaternion (const Quaternion &pQuaternion)
| Compute angle and axis rotation from a Quaternion. More...
ALMATH_API Rotation | transpose (const Rotation &pRot)
| Compute the transpose rotation of the one given in argument: More...
ALMATH_API float | determinant (const Rotation &pRot)
| Compute the determinant of the given Rotation: More...
ALMATH_API void | normalizeRotation (Rotation &pRot)
| Normalize data, if needed, to have Rotation properties. More...
ALMATH_API Rotation | rotationFromQuaternion (const float pA, const float pB, const float pC, const float pD)
| Creates a 3*3 Rotation Matrix from a normalized quaternion ( |a + bi + cj + dk| = 1). More...
ALMATH_API Rotation | rotationFromAngleDirection (const float pAngle, const float pX, const float pY, const float pZ)
| Creates a 3*3 Rotation Matrix from a an angle and a normalized direction( |pX, pY, pZ| = 1). More...
ALMATH_API void | applyRotation (const AL::Math::Rotation &pRot, float &pX, float &pY, float &pZ)
| Apply Rotation to a 3D point. More...
ALMATH_API Rotation | rotationFromRotX (const float pRotX)
| Create a Rotation initialized with explicit rotation around x axis. More...
ALMATH_API Rotation | rotationFromRotY (const float pRotY)
| Create a Rotation initialized with explicit rotation around y axis. More...
ALMATH_API Rotation | rotationFromRotZ (const float pRotZ)
| Create a Rotation initialized with explicit rotation around z axis. More...
ALMATH_API Rotation | rotationFrom3DRotation (const float &pWX, const float &pWY, const float &pWZ)
| Create a Rotation initialized with euler angle. Rot = fromRotZ(pWZ)*fromRotY(pWY)*fromRotX(pWX) More...
ALMATH_API float | norm (const Rotation3D &pRot)
| Compute the norm of a Rotation3D: More...
ALMATH_API void | transformPreMultiply (const Transform &pT, Transform &pTOut)
| pTOut = pT*pTOut More...
ALMATH_API float | norm (const Transform &pT)
| Compute the norm translation part of the actual Transform: More...
ALMATH_API void | normalizeTransform (Transform &pT)
| Normalize data, if needed, to have transform properties. More...
ALMATH_API void | transformToFloatVector (const Transform &pT, std::vector< float > &pTOut)
| DEPRECATED: Use toVector function. Copy the Transform in a vector of float: More...
ALMATH_API std::vector< float > | transformToFloatVector (const Transform &pT)
| DEPRECATED: Use toVector function. Return the Transform in a vector of float: More...
ALMATH_API float | determinant (const Transform &pT)
| Compute the determinant of rotation part of the given Transform: More...
ALMATH_API float | determinant (const std::vector< float > &pFloats)
| Compute the determinant of rotation part of the given vector of floats: More...
ALMATH_API void | transformInverse (const Transform &pT, Transform &pTOut)
| Return the transform inverse of the given Transform: More...
ALMATH_API Transform | transformInverse (const Transform &pT)
| Return the transform inverse of the given Transform: More...
ALMATH_API Transform | transformFromRotX (const float pRotX)
| Create a Transform initialize with explicit rotation around x axis: More...
ALMATH_API Transform | transformFromRotY (const float pRotY)
| Create a Transform initialize with explicit rotation around y axis: More...
ALMATH_API Transform | transformFromRotZ (const float pRotZ)
| Create a Transform initialize with explicit rotation around z axis: More...
ALMATH_API Transform | transformFrom3DRotation (const float &pWX, const float &pWY, const float &pWZ)
| Create a Transform initialize with euler angle: H = fromRotZ(pWZ)*fromRotY(pWY)*fromRotX(pWX) More...
ALMATH_API Transform | transformFromPosition (const float &pX, const float &pY, const float &pZ)
| Create a Transform initialize with explicit value for translation part: More...
ALMATH_API Transform | transformFromPosition (const float &pX, const float &pY, const float &pZ, const float &pWX, const float &pWY, const float &pWZ)
| Create a Transform initialize with explicit value for translation part and euler angle: More...
ALMATH_API void | transformInvertInPlace (Transform &pT)
| Inverse the given Transform in place: More...
ALMATH_API Transform | pinv (const Transform &pT)
| Alternative name for inverse: return the transform inverse of the given Transform: More...
ALMATH_API Transform | transformDiff (const Transform &pT1, const Transform &pT2)
| Compute the Transform between the actual Transform and the one give in argument result: More...
ALMATH_API float | transformDistanceSquared (const Transform &pT1, const Transform &pT2)
| Compute the squared distance between the actual Transform and the one give in argument (translation part): More...
ALMATH_API float | transformDistance (const Transform &pT1, const Transform &pT2)
| Compute the distance between the actual Transform and the one give in argument: More...
ALMATH_API Velocity3D | operator* (const float pM, const Velocity3D &pVel1)
ALMATH_API float | norm (const Velocity3D &pVel)
| Compute the norm of a Velocity3D: More...
ALMATH_API Velocity3D | normalize (const Velocity3D &pVel)
| Normalize a Velocity3D: More...
ALMATH_API Velocity6D | operator* (const float pVal, const Velocity6D &pVel)
| Overloading of operator * for left Velocity6D. More...
ALMATH_API float | norm (const Velocity6D &pVel)
| Compute the norm of a Velocity6D: More...
ALMATH_API Velocity6D | normalize (const Velocity6D &pVel)
| Normalize a Velocity6D: More...

## Variables
class ALMATH_API | Shape3DVisitor

## Typedef Documentation

typedef Eigen::Matrix<float, 3, 4> AL::Math::Matrix34f

Definition at line 21 of file almatheigen.h.

typedef Eigen::Matrix<float, 3, 4, Eigen::RowMajor> AL::Math::Matrix34frm

Definition at line 22 of file almatheigen.h.

typedef std::vector<Pose2Di> AL::Math::Pose2DiVect

Definition at line 50 of file occupancymapparams.h.

typedef std::vector<Pose2D> AL::Math::Pose2DVect

Definition at line 49 of file occupancymapparams.h.

typedef Eigen::Matrix<float, 6, 1> AL::Math::Vector6f

Definition at line 23 of file almatheigen.h.

## Function Documentation

template<typename Scalar , typename Derived0 , typename Derived1 >

void AL::Math::addPointMassInertia | ( | Scalar | mass,
|  | const Eigen::MatrixBase< Derived0 > & | position,
|  | Eigen::MatrixBase< Derived1 > & | output
| ) |  |

Definition at line 17 of file bodymass.h.

ALMATH_API const bool AL::Math::areTwoBoxesInCollision | ( | const std::vector< Position2D > & | pBoxA,
|  | const std::vector< Position2D > & | pBoxB
| ) |  |

template<class RandomAccessRange >

Math::Transform AL::Math::averageTransforms | ( | const RandomAccessRange & | range | ) |

Definition at line 117 of file almatheigen.h.

ALMATH_API Transform AL::Math::axisRotationProjection | ( | const Position3D & | pAxis,
|  | const Transform & | pT
| ) |  |

Function axisRotationProjection: finding the closest rotation Rw of R around an axis (Position3D)

Parameters

  pAxis | axis of rotation
  pT | a transform

Returns
  Transform

ALMATH_API Rotation AL::Math::axisRotationProjection | ( | const Position3D & | pAxis,
|  | const Rotation & | pRot
| ) |  |

Function axisRotationProjection: finding the closest rotation Rw of R around an axis (Position3D)

Parameters

  pAxis | axis of rotation
  pRot | a rotation

Returns
  Rotation

ALMATH_API void AL::Math::axisRotationProjectionInPlace | ( | const Position3D & | pAxis,
|  | Transform & | pT
| ) |  |

Function axisRotationProjectionInPlace: finding the closest rotation Rw of R around an axis (Position3D)

Parameters

  pAxis | axis of rotation
  pT | a transform

ALMATH_API void AL::Math::axisRotationProjectionInPlace | ( | const Position3D & | pAxis,
|  | Rotation & | pRot
| ) |  |

Function axisRotationProjectionInPlace: finding the closest rotation Rw of R around an axis (Position3D)

Parameters

  pAxis | axis of rotation
  pRot | a rotation

ALMATH_API void AL::Math::buildRigidBodySystemFromUrdf | ( | RigidBodySystemBuilder::Interface< double > & | builder,
|  | urdf::ptree & | pt,
|  | bool | remove_root_joint = `false`,
|  | bool | make_continuous_joints_fixed = `false`
| ) |  |

ALMATH_API void AL::Math::buildRigidBodySystemFromUrdf | ( | RigidBodySystemBuilder::Interface< double > & | builder,
|  | std::istream & | is,
|  | bool | remove_root_joint = `false`,
|  | bool | make_continuous_joints_fixed = `false`
| ) |  |

ALMATH_API void AL::Math::changeReferencePosition3DInPlace | ( | const Transform & | pT,
|  | Position3D & | pPosOut
| ) |  |

ALMATH_API void AL::Math::changeReferenceTransposePosition3DInPlace | ( | const Transform & | pT,
|  | Position3D & | pPosOut
| ) |  |

ALMATH_API bool AL::Math::clipData | ( | const float & | pMin,
|  | const float & | pMax,
|  | std::vector< float > & | pData
| ) |  |

ALMATH_API bool AL::Math::clipData | ( | const float & | pMin,
|  | const float & | pMax,
|  | std::vector< std::vector< float > > & | pData
| ) |  |

ALMATH_API void AL::Math::computeBox | ( | const std::vector< Position2D > & | pInitBox,
|  | const Pose2D & | pMove,
|  | std::vector< Position2D > & | pMovedBox
| ) |  |

ALMATH_API void AL::Math::computePillParameters | ( | const Math::Position3D & | pEndTfToCenterA,
|  | const Math::Position3D & | pEndTfToCenterB,
|  | float & | pHalfExtent,
|  | Math::Transform & | pEndTfToPillCenter
| ) |  |

ALMATH_API Position3D AL::Math::crossProduct | ( | const Position3D & | pPos1,
|  | const Position3D & | pPos2
| ) |  |

Compute the cross Product between two Position3D:

Parameters

  pPos1 | the first Position3D
  pPos2 | the second Position3D

Returns
  the Position3D cross product between the two Position3D

ALMATH_API void AL::Math::crossProduct | ( | const Position3D & | pPos1,
|  | const Position3D & | pPos2,
|  | Position3D & | pRes
| ) |  |

Compute the cross Product between two Position3D:

Parameters

  pPos1 | the first Position3D
  pPos2 | the second Position3D
  pRes | the Position3D cross product between the two Position3D

ALMATH_API const void AL::Math::dichotomie | ( | const std::vector< Position2D > & | pFixedBox,
|  | const std::vector< Position2D > & | pMovingBox,
|  | Pose2D & | pMove
| ) |  |

ALMATH_API Displacement AL::Math::displacementFromTransform | ( | const Transform & | pTrans | ) |

Function displacementFromTransform: computing the displacement equivalent to the transform

Parameters

  pTrans | a transform

Returns
  computed Displacement

ALMATH_API float AL::Math::dotProduct | ( | const Position2D & | pPos1,
|  | const Position2D & | pPos2
| ) |  |

Compute the dot Product between two Position2D:

Parameters

  pPos1 | the first Position2D
  pPos2 | the second Position2D

Returns
  the float dot product between the two Position2D

ALMATH_API float AL::Math::dotProduct | ( | const Position3D & | pPos1,
|  | const Position3D & | pPos2
| ) |  |

Compute the dot Product between two Position3D:

Parameters

  pPos1 | the first Position3D
  pPos2 | the second Position3D

Returns
  the float dot product between the two Position3D

Eigen::Quaterniond AL::Math::eigenQuaternionFromUrdfRpy | ( | const AL::urdf::Array3d & | rpy | ) |
| inline

Definition at line 16 of file urdfeigen.h.

ALMATH_API void AL::Math::getSphereCentersFromPill | ( | float | pHalfExtent,
|  | const Math::Transform & | pEndTfToPillCenter,
|  | Math::Position3D & | pCenterA,
|  | Math::Position3D & | pCenterB
| ) |  |

ALMATH_API bool AL::Math::intersectionSegment2D | ( | const Position2D & | pA1,
|  | const Position2D & | pA2,
|  | const Position2D & | pB1,
|  | const Position2D & | pB2,
|  | Position2D & | pC
| ) |  |

ALMATH_API bool AL::Math::isAxisMask | ( | const int | pAxisMask | ) |

Validates an AxisMask.

Parameters

  pAxisMask | An Axis Mask.

Returns
  true if it succeeds, false if it fails.

ALMATH_API Velocity3D AL::Math::operator* | ( | const float | pM,
|  | const Velocity3D & | pVel1
| ) |  |

ALMATH_API Velocity6D AL::Math::operator* | ( | const float | pVal,
|  | const Velocity6D & | pVel
| ) |  |

Overloading of operator * for left Velocity6D.

Parameters

  pVal | the float factor.
  pVel | the given Velocity6D.

ALMATH_API Position2D AL::Math::operator* | ( | const float | pM,
|  | const Position2D & | pPos1
| ) |  |

ALMATH_API Position3D AL::Math::operator* | ( | const Transform & | pT,
|  | const Position2D & | pPos
| ) |  |

ALMATH_API Position3D AL::Math::operator* | ( | const Transform & | pT,
|  | const Position3D & | pPos
| ) |  |

template<typename T >

BodyMass<T> AL::Math::operator+ | ( | const BodyMass< T > & | lhs,
|  | const BodyMass< T > & | rhs
| ) |  |

Definition at line 111 of file bodymass.h.

template<typename T >

bool AL::Math::operator== | ( | const BodyMass< T > & | lhs,
|  | const BodyMass< T > & | rhs
| ) |  |

Definition at line 79 of file bodymass.h.

ALMATH_API void AL::Math::orthogonalSpace | ( | const Position3D & | pPos,
|  | Transform & | pTf
| ) |  |

Function orthogonalSpace: create an orthonormal direct base from a vector (Position3D)

Parameters

  pPos | a vector of direction
  pTf | the result transform

ALMATH_API Transform AL::Math::orthogonalSpace | ( | const Position3D & | pPos | ) |

AL::Math::Pose2D AL::Math::pose2DFromQiTransform | ( | const qi::geometry::Transform & | r | ) |
| inline

Definition at line 46 of file almathqigeometry.hpp.

qi::geometry::Transform AL::Math::qiTransformFromALMath | ( | const Transform & | tf | ) |
| inline

Definition at line 36 of file almathqigeometry.hpp.

qi::geometry::Transform AL::Math::qiTransformFromPose2D | ( | const Pose2D & | pose | ) |
| inline

Definition at line 52 of file almathqigeometry.hpp.

ALMATH_API Quaternion AL::Math::quaternionFromRotation3D | ( | const Rotation3D & | pRot3D | ) |

ALMATH_API Quaternion AL::Math::quaternionFromTransform | ( | const Transform & | pT | ) |

ALMATH_API Rotation3D AL::Math::rotation3DFromQuaternion | ( | const Quaternion & | pQuaternion | ) |

ALMATH_API Rotation AL::Math::rotationFromQuaternion | ( | const Quaternion & | pQua | ) |

template<typename T , typename BodyMassRange >

BodyMass<T> AL::Math::squashBodyMasses | ( | const BodyMassRange & | bodymasses | ) |

Definition at line 86 of file bodymass.h.

template<typename Scalar , typename EPose , typename Derived1 >

void AL::Math::squashInertial | ( | Scalar | mass_a,
|  | const EPose & | pose_a,
|  | const Eigen::MatrixBase< Derived1 > & | inertia_a,
|  | Scalar | mass_b,
|  | const EPose & | pose_b,
|  | const Eigen::MatrixBase< Derived1 > & | inertia_b,
|  | Scalar & | mass_c,
|  | EPose & | pose_c,
|  | Eigen::MatrixBase< Derived1 > & | inertia_c
| ) |  |

Definition at line 72 of file urdfeigen.h.

template<typename Derived0 >

Position3D AL::Math::toALMathPosition3D | ( | const Eigen::MatrixBase< Derived0 > & | in | ) |

Definition at line 85 of file almatheigen.h.

template<typename Derived0 >

void AL::Math::toALMathTransform | ( | const Eigen::MatrixBase< Derived0 > & | in,
|  | Transform & | out
| ) |  |

Definition at line 55 of file almatheigen.h.

template<typename Derived0 >

Transform AL::Math::toALMathTransform | ( | const Eigen::MatrixBase< Derived0 > & | m | ) |

Definition at line 64 of file almatheigen.h.

template<int _Mode, int _Options>

void AL::Math::toALMathTransform | ( | const Eigen::Transform< float, 3, _Mode, _Options > & | in,
|  | Transform & | out
| ) |  |

Definition at line 71 of file almatheigen.h.

template<int _Mode, int _Options>

Transform AL::Math::toALMathTransform | ( | const Eigen::Transform< float, 3, _Mode, _Options > & | tr | ) |

Definition at line 77 of file almatheigen.h.

template<typename Derived0 >

void AL::Math::toALMathVelocity6D | ( | const Eigen::MatrixBase< Derived0 > & | in,
|  | Velocity6D & | out
| ) |  |

Definition at line 94 of file almatheigen.h.

template<typename Derived0 >

Velocity6D AL::Math::toALMathVelocity6D | ( | const Eigen::MatrixBase< Derived0 > & | in | ) |

Definition at line 105 of file almatheigen.h.

Eigen::AffineCompact3d AL::Math::toEigenAffineCompact3 | ( | const AL::urdf::Pose & | p | ) |
| inline

Definition at line 35 of file urdfeigen.h.

Eigen::AffineCompact3f AL::Math::toEigenAffineCompact3 | ( | const Math::Transform & | tr | ) |
| inline

Definition at line 49 of file almatheigen.h.

Eigen::Isometry3d AL::Math::toEigenIsometry3 | ( | const AL::urdf::Pose & | p | ) |
| inline

Definition at line 41 of file urdfeigen.h.

Eigen::Map<const Matrix34frm> AL::Math::toEigenMapMatrix34 | ( | const Math::Transform & | tr | ) |
| inline

Definition at line 26 of file almatheigen.h.

Eigen::Matrix3f AL::Math::toEigenMatrix3 | ( | const Math::Transform & | tr | ) |
| inline

Definition at line 34 of file almatheigen.h.

Eigen::Matrix3d AL::Math::toEigenMatrix3 | ( | const AL::urdf::Inertial & | inertial | ) |
| inline

Definition at line 54 of file urdfeigen.h.

Matrix34f AL::Math::toEigenMatrix34 | ( | const Math::Transform & | tr | ) |
| inline

Definition at line 30 of file almatheigen.h.

template<typename T >

Eigen::Quaternion<T> AL::Math::toEigenQuaternion | ( | const Math::Transform & | tr | ) |
| inline

Definition at line 40 of file almatheigen.h.

Eigen::Isometry3d AL::Math::toEigenTransform | ( | const AL::urdf::Pose & | p | ) |
| inline

Definition at line 29 of file urdfeigen.h.

Eigen::Vector3f AL::Math::toEigenVector3 | ( | const Math::Position3D & | v | ) |
| inline

Definition at line 45 of file almatheigen.h.

qi::Duration AL::Math::toQiDuration | ( | ros::Time | time | ) |
| inline

Definition at line 64 of file qirostime.h.

ros::Time AL::Math::toValidRosTime | ( | qi::Duration | time_since_epoch | ) |
| inline

Definition at line 35 of file qirostime.h.

ALMATH_API Transform AL::Math::transformFromDisplacement | ( | const Displacement & | pDisp | ) |

Function transformFromDisplacement: computing the transform equivalent to the displacement

Parameters

  pDisp | a displacement

Returns
  computed Transform

Transform AL::Math::transformFromQiTransform | ( | const qi::geometry::Transform & | r | ) |
| inline

Definition at line 23 of file almathqigeometry.hpp.

ALMATH_API Transform AL::Math::transformFromQuaternion | ( | const Quaternion & | pQua | ) |

template<typename Scalar , typename Derived0 , typename Derived1 >

void AL::Math::urdfInertialToEigen | ( | const AL::urdf::Inertial & | inertial,
|  | Scalar & | mass,
|  | Eigen::MatrixBase< Derived0 > & | com_a,
|  | Eigen::MatrixBase< Derived1 > & | inertia_a
| ) |  |

Definition at line 109 of file urdfeigen.h.

template<typename T >

AL::urdf::Pose AL::Math::urdfPoseFromEigenTransform | ( | const T & | t | ) |

Definition at line 48 of file urdfeigen.h.

template<typename T >

AL::urdf::Array3d AL::Math::urdfRpyFromEigenMatrix3 | ( | const T & | t | ) |

Definition at line 24 of file urdfeigen.h.

ALMATH_API void AL::Math::velocityExponentialInPlace | ( | const Velocity6D & | pVel,
|  | Transform & | pT
| ) |  |

## Variable Documentation

class ALMATH_API AL::Math::Shape3DVisitor

Definition at line 17 of file shapes3d.h.