rcs.posemath
Class Posemath
java.lang.Object
rcs.posemath.Posemath
public class Posemath
- extends java.lang.Object
Method Summary |
static PM_CARTESIAN |
add(PM_CARTESIAN v1,
PM_CARTESIAN v2)
|
static PM_CYLINDRICAL |
add(PM_CYLINDRICAL c1,
PM_CYLINDRICAL c2)
|
static PM_CARTESIAN |
cross(PM_CARTESIAN v1,
PM_CARTESIAN v2)
|
static PM_CYLINDRICAL |
cross(PM_CYLINDRICAL v1,
PM_CYLINDRICAL v2)
|
static double |
disp(PM_CARTESIAN v1,
PM_CARTESIAN v2)
|
static PM_CARTESIAN |
divide(PM_CARTESIAN v,
double d)
|
static PM_CYLINDRICAL |
divide(PM_CYLINDRICAL c,
double d)
|
static PM_QUATERNION |
divide(PM_QUATERNION q,
double s)
|
static PM_ROTATION_VECTOR |
divide(PM_ROTATION_VECTOR r,
double s)
|
static double |
dot(PM_CARTESIAN v1,
PM_CARTESIAN v2)
|
static double |
dot(PM_CYLINDRICAL v1,
PM_CYLINDRICAL v2)
|
static PM_CARTESIAN |
inv(PM_CARTESIAN v)
|
static PM_CYLINDRICAL |
inv(PM_CYLINDRICAL v)
|
static PM_HOMOGENEOUS |
inv(PM_HOMOGENEOUS h)
|
static PM_POSE |
inv(PM_POSE p)
|
static PM_QUATERNION |
inv(PM_QUATERNION q1)
|
static boolean |
IS_FUZZ(double a,
double fuzz)
|
static boolean |
isNorm(PM_CARTESIAN v)
|
static boolean |
isNorm(PM_CYLINDRICAL v)
|
static boolean |
isNorm(PM_QUATERNION q1)
|
static boolean |
isNorm(PM_ROTATION_MATRIX m)
|
static boolean |
isNorm(PM_ROTATION_VECTOR r)
|
static double |
mag(PM_CARTESIAN v)
|
static double |
mag(PM_CYLINDRICAL v1)
|
static double |
mag(PM_QUATERNION q)
|
static PM_CARTESIAN |
multiply(double d,
PM_CARTESIAN v)
|
static PM_CYLINDRICAL |
multiply(double d,
PM_CYLINDRICAL c)
|
static PM_QUATERNION |
multiply(double s,
PM_QUATERNION q)
|
static PmRotationVector |
multiply(double s,
PM_ROTATION_VECTOR r)
|
static PM_CARTESIAN |
multiply(PM_CARTESIAN v,
double d)
|
static PM_CYLINDRICAL |
multiply(PM_CYLINDRICAL c,
double d)
|
static PM_CARTESIAN |
multiply(PM_POSE p1,
PM_CARTESIAN v2)
|
static PM_POSE |
multiply(PM_POSE p1,
PM_POSE p2)
|
static PM_QUATERNION |
multiply(PM_QUATERNION q,
double s)
|
static PM_CARTESIAN |
multiply(PM_QUATERNION q1,
PM_CARTESIAN v2)
|
static PM_QUATERNION |
multiply(PM_QUATERNION q1,
PM_QUATERNION q2)
|
static PM_CARTESIAN |
multiply(PM_ROTATION_MATRIX m,
PM_CARTESIAN v)
|
static PM_ROTATION_MATRIX |
multiply(PM_ROTATION_MATRIX m1,
PM_ROTATION_MATRIX m2)
|
static PM_ROTATION_VECTOR |
multiply(PM_ROTATION_VECTOR r,
double s)
|
static PM_CARTESIAN |
neg(PM_CARTESIAN v)
|
static PM_CYLINDRICAL |
neg(PM_CYLINDRICAL v)
|
static PM_CARTESIAN |
norm(PM_CARTESIAN v)
|
static PM_CYLINDRICAL |
norm(PM_CYLINDRICAL v)
|
static PM_QUATERNION |
norm(PM_QUATERNION q1)
|
static PM_ROTATION_VECTOR |
norm(PM_ROTATION_VECTOR r)
|
static int |
pmAxisAngleQuatConvert(int axis,
double a,
PmQuaternion q)
|
static int |
pmCartCartAdd(PmCartesian v1,
PmCartesian v2,
PmCartesian vout)
|
static boolean |
pmCartCartCompare(PmCartesian v1,
PmCartesian v2)
|
static int |
pmCartCartCross(PmCartesian v1,
PmCartesian v2,
PmCartesian vout)
|
static double |
pmCartCartDisp(PmCartesian v1,
PmCartesian v2)
|
static double |
pmCartCartDot(PmCartesian v1,
PmCartesian v2)
|
static int |
pmCartCartProj(PmCartesian v1,
PmCartesian v2,
PmCartesian vout)
|
static int |
pmCartCartSub(PmCartesian v1,
PmCartesian v2,
PmCartesian vout)
|
static int |
pmCartCylConvert(PmCartesian v,
PmCylindrical c)
|
static int |
pmCartInv(PmCartesian v1,
PmCartesian vout)
|
static boolean |
pmCartIsNorm(PmCartesian v)
|
static double |
pmCartMag(PmCartesian v)
|
static int |
pmCartNeg(PmCartesian v1,
PmCartesian vout)
|
static int |
pmCartNorm(PmCartesian v,
PmCartesian vout)
|
static int |
pmCartPlaneProj(PmCartesian v,
PmCartesian normal,
PmCartesian vout)
|
static int |
pmCartScalDiv(PmCartesian v1,
double d,
PmCartesian vout)
|
static int |
pmCartScalMult(PmCartesian v1,
double d,
PmCartesian vout)
|
static int |
pmCartSphConvert(PmCartesian v,
PmSpherical s)
|
static int |
pmCircleInit(PmCircle circle,
PmPose start,
PmPose end,
PmCartesian center,
PmCartesian normal,
int turn)
|
static int |
pmCirclePoint(PmCircle circle,
double angle,
PmPose point)
|
static boolean |
pmClose(double a,
double b,
double eps)
|
static int |
pmCylCartConvert(PmCylindrical c,
PmCartesian v)
|
static int |
pmCylCylAdd(PmCylindrical c1,
PmCylindrical c2,
PmCylindrical cout)
|
static boolean |
pmCylCylCompare(PmCylindrical v1,
PmCylindrical v2)
|
static int |
pmCylCylCross(PmCylindrical c1,
PmCylindrical c2,
PmCylindrical cout)
|
static double |
pmCylCylDot(PmCylindrical c1,
PmCylindrical c2)
|
static int |
pmCylCylSub(PmCylindrical c1,
PmCylindrical c2,
PmCylindrical cout)
|
static int |
pmCylInv(PmCylindrical c,
PmCylindrical cout)
|
static boolean |
pmCylIsNorm(PmCylindrical v)
|
static double |
pmCylMag(PmCylindrical c)
|
static int |
pmCylNeg(PmCylindrical v1,
PmCylindrical vout)
|
static int |
pmCylNorm(PmCylindrical v,
PmCylindrical vout)
|
static int |
pmCylScalDiv(PmCylindrical v1,
double d,
PmCylindrical vout)
|
static int |
pmCylScalMult(PmCylindrical v1,
double d,
PmCylindrical vout)
|
static int |
pmCylSphConvert(PmCylindrical c,
PmSpherical s)
|
static int |
pmHomInv(PmHomogeneous h1,
PmHomogeneous h2)
|
static int |
pmHomPoseConvert(PmHomogeneous h,
PmPose p)
|
static int |
pmLineInit(PmLine line,
PmPose start,
PmPose end)
|
static int |
pmLinePoint(PmLine line,
double len,
PmPose point)
|
static int |
pmMatCartMult(PmRotationMatrix m,
PmCartesian v,
PmCartesian vout)
|
static int |
pmMatInv(PmRotationMatrix m,
PmRotationMatrix mout)
|
static boolean |
pmMatIsNorm(PmRotationMatrix m)
|
static int |
pmMatMatMult(PmRotationMatrix m1,
PmRotationMatrix m2,
PmRotationMatrix mout)
|
static int |
pmMatNorm(PmRotationMatrix m,
PmRotationMatrix mout)
|
static int |
pmMatQuatConvert(PmRotationMatrix m,
PmQuaternion q)
|
static int |
pmMatRotConvert(PmRotationMatrix m,
PmRotationVector r)
|
static int |
pmMatRpyConvert(PmRotationMatrix m,
PmRpy rpy)
|
static int |
pmMatZyxConvert(PmRotationMatrix m,
PmEulerZyx zyx)
|
static int |
pmMatZyzConvert(PmRotationMatrix m,
PmEulerZyz zyz)
|
static int |
pmPoseCartMult(PmPose p1,
PmCartesian v2,
PmCartesian vout)
|
static int |
pmPoseHomConvert(PmPose p,
PmHomogeneous h)
|
static int |
pmPoseInv(PmPose p1,
PmPose p2)
|
static boolean |
pmPosePoseCompare(PmPose p1,
PmPose p2)
|
static int |
pmPosePoseMult(PmPose p1,
PmPose p2,
PmPose pout)
|
protected static void |
pmPrintError(java.lang.String str,
int new_errno)
|
static PmQuaternion |
pmQuatAxisAngleMult(PmQuaternion q,
int axis,
double angle)
|
static int |
pmQuatAxisAngleMult(PmQuaternion q,
int axis,
double angle,
PmQuaternion pq)
|
static int |
pmQuatCartMult(PmQuaternion q1,
PmCartesian v2,
PmCartesian vout)
|
static int |
pmQuatInv(PmQuaternion q1,
PmQuaternion qout)
|
static boolean |
pmQuatIsNorm(PmQuaternion q1)
|
static double |
pmQuatMag(PmQuaternion q)
|
static int |
pmQuatMatConvert(PmQuaternion q,
PmRotationMatrix m)
|
static int |
pmQuatNorm(PmQuaternion q1,
PmQuaternion qout)
|
static boolean |
pmQuatQuatCompare(PmQuaternion q1,
PmQuaternion q2)
|
static int |
pmQuatQuatMult(PmQuaternion q1,
PmQuaternion q2,
PmQuaternion qout)
|
static int |
pmQuatRotConvert(PmQuaternion q,
PmRotationVector r)
|
static int |
pmQuatRpyConvert(PmQuaternion q,
PmRpy rpy)
|
static int |
pmQuatScalDiv(PmQuaternion q,
double s,
PmQuaternion qout)
|
static int |
pmQuatScalMult(PmQuaternion q,
double s,
PmQuaternion qout)
|
static int |
pmQuatZyxConvert(PmQuaternion q,
PmEulerZyx zyx)
|
static int |
pmQuatZyzConvert(PmQuaternion q,
PmEulerZyz zyz)
|
static boolean |
pmRotIsNorm(PmRotationVector r)
|
static int |
pmRotMatConvert(PmRotationVector r,
PmRotationMatrix m)
|
static int |
pmRotNorm(PmRotationVector r,
PmRotationVector rout)
|
static int |
pmRotQuatConvert(PmRotationVector r,
PmQuaternion q)
|
static int |
pmRotRpyConvert(PmRotationVector r,
PmRpy rpy)
|
static int |
pmRotScalDiv(PmRotationVector r,
double s,
PmRotationVector rout)
|
static int |
pmRotScalMult(PmRotationVector r,
double s,
PmRotationVector rout)
|
static int |
pmRotZyxConvert(PmRotationVector r,
PmEulerZyx zyx)
|
static int |
pmRotZyzConvert(PmRotationVector r,
PmEulerZyz zyz)
|
static int |
pmRpyMatConvert(PmRpy rpy,
PmRotationMatrix m)
|
static int |
pmRpyQuatConvert(PmRpy rpy,
PmQuaternion q)
|
static int |
pmRpyRotConvert(PmRpy rpy,
PmRotationVector r)
|
static int |
pmRpyZyxConvert(PmRpy rpy,
PmEulerZyx zyx)
|
static int |
pmRpyZyzConvert(PmRpy rpy,
PmEulerZyz zyz)
|
static int |
pmSphCartConvert(PmSpherical s,
PmCartesian v)
|
static int |
pmSphCylConvert(PmSpherical s,
PmCylindrical c)
|
static double |
pmSq(double x)
|
static double |
pmSqrt(double x)
|
static int |
pmZyxMatConvert(PmEulerZyx zyx,
PmRotationMatrix m)
|
static int |
pmZyxQuatConvert(PmEulerZyx zyx,
PmQuaternion q)
|
static int |
pmZyxRotConvert(PmEulerZyx zyx,
PmRotationVector r)
|
static int |
pmZyxRpyConvert(PmEulerZyx zyx,
PmRpy rpy)
|
static int |
pmZyxZyzConvert(PmEulerZyx zyx,
PmEulerZyz zyz)
|
static int |
pmZyzMatConvert(PmEulerZyz zyz,
PmRotationMatrix m)
|
static int |
pmZyzQuatConvert(PmEulerZyz zyz,
PmQuaternion q)
|
static int |
pmZyzRotConvert(PmEulerZyz zyz,
PmRotationVector r)
|
static int |
pmZyzRpyConvert(PmEulerZyz zyz,
PmRpy rpy)
|
static PM_CARTESIAN |
proj(PM_CARTESIAN v1,
PM_CARTESIAN v2)
|
static PM_CARTESIAN |
subtract(PM_CARTESIAN v1,
PM_CARTESIAN v2)
|
static PM_CYLINDRICAL |
subtract(PM_CYLINDRICAL c1,
PM_CYLINDRICAL c2)
|
static PM_CARTESIAN |
toCart(PM_CYLINDRICAL v)
|
static PM_CARTESIAN |
toCart(PM_SPHERICAL v)
|
static PM_CYLINDRICAL |
toCyl(PM_CARTESIAN v)
|
static PM_CYLINDRICAL |
toCyl(PM_SPHERICAL s)
|
static PM_HOMOGENEOUS |
toHom(PM_POSE p)
|
static PM_ROTATION_MATRIX |
toMat(PM_QUATERNION v)
|
static PM_ROTATION_MATRIX |
toMat(PM_ROTATION_VECTOR v)
|
static PM_QUATERNION |
toQuat(PM_EULER_ZYX v)
|
static PM_QUATERNION |
toQuat(PM_EULER_ZYZ v)
|
static PM_QUATERNION |
toQuat(PM_ROTATION_MATRIX m)
|
static PM_QUATERNION |
toQuat(PM_ROTATION_VECTOR v)
|
static PM_QUATERNION |
toQuat(PM_RPY v)
|
static PM_ROTATION_VECTOR |
toRot(PM_QUATERNION v)
|
static PM_RPY |
toRpy(PM_QUATERNION v)
|
static PM_SPHERICAL |
toSph(PM_CARTESIAN v)
|
static PM_SPHERICAL |
toSph(PM_CYLINDRICAL c)
|
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
pmErrno
public static int pmErrno
PM_PRINT_ERROR
public static boolean PM_PRINT_ERROR
debug_on
public static boolean debug_on
CART_FUZZ
public static final double CART_FUZZ
- See Also:
- Constant Field Values
DOUBLECP_FUZZ
public static final double DOUBLECP_FUZZ
- See Also:
- Constant Field Values
DOUBLE_FUZZ
public static final double DOUBLE_FUZZ
- See Also:
- Constant Field Values
E_EPSILON
public static final double E_EPSILON
- See Also:
- Constant Field Values
PM_2_PI
public static final double PM_2_PI
- See Also:
- Constant Field Values
PM_DIV_ERR
public static final int PM_DIV_ERR
- See Also:
- Constant Field Values
PM_ERR
public static final int PM_ERR
- See Also:
- Constant Field Values
PM_IMPL_ERR
public static final int PM_IMPL_ERR
- See Also:
- Constant Field Values
PM_NORM_ERR
public static final int PM_NORM_ERR
- See Also:
- Constant Field Values
PM_PI
public static final double PM_PI
- See Also:
- Constant Field Values
PM_PI_2
public static final double PM_PI_2
- See Also:
- Constant Field Values
PM_PI_4
public static final double PM_PI_4
- See Also:
- Constant Field Values
QSIN_FUZZ
public static final double QSIN_FUZZ
- See Also:
- Constant Field Values
QS_FUZZ
public static final double QS_FUZZ
- See Also:
- Constant Field Values
Q_FUZZ
public static final double Q_FUZZ
- See Also:
- Constant Field Values
RPY_P_FUZZ
public static final double RPY_P_FUZZ
- See Also:
- Constant Field Values
RS_FUZZ
public static final double RS_FUZZ
- See Also:
- Constant Field Values
SINGULAR_EPSILON
public static final double SINGULAR_EPSILON
- See Also:
- Constant Field Values
SQRT_FUZZ
public static final double SQRT_FUZZ
- See Also:
- Constant Field Values
UNIT_QUAT_FUZZ
public static final double UNIT_QUAT_FUZZ
- See Also:
- Constant Field Values
UNIT_SC_FUZZ
public static final double UNIT_SC_FUZZ
- See Also:
- Constant Field Values
UNIT_VEC_FUZZ
public static final double UNIT_VEC_FUZZ
- See Also:
- Constant Field Values
V_FUZZ
public static final double V_FUZZ
- See Also:
- Constant Field Values
ZYX_Y_FUZZ
public static final double ZYX_Y_FUZZ
- See Also:
- Constant Field Values
ZYZ_Y_FUZZ
public static final double ZYZ_Y_FUZZ
- See Also:
- Constant Field Values
DBL_MAX
public static final double DBL_MAX
- See Also:
- Constant Field Values
PI
public static final double PI
- See Also:
- Constant Field Values
PI_2
public static final double PI_2
- See Also:
- Constant Field Values
PI_4
public static final double PI_4
- See Also:
- Constant Field Values
PM_X
public static final int PM_X
- See Also:
- Constant Field Values
PM_Y
public static final int PM_Y
- See Also:
- Constant Field Values
PM_Z
public static final int PM_Z
- See Also:
- Constant Field Values
Posemath
public Posemath()
pmPrintError
protected static void pmPrintError(java.lang.String str,
int new_errno)
throws PmException
- Throws:
PmException
IS_FUZZ
public static boolean IS_FUZZ(double a,
double fuzz)
throws PmException
- Throws:
PmException
pmSqrt
public static double pmSqrt(double x)
throws PmException
- Throws:
PmException
pmSq
public static double pmSq(double x)
throws PmException
- Throws:
PmException
pmClose
public static boolean pmClose(double a,
double b,
double eps)
toCyl
public static PM_CYLINDRICAL toCyl(PM_CARTESIAN v)
throws PmException
- Throws:
PmException
pmCartCylConvert
public static int pmCartCylConvert(PmCartesian v,
PmCylindrical c)
throws PmException
- Throws:
PmException
toSph
public static PM_SPHERICAL toSph(PM_CARTESIAN v)
throws PmException
- Throws:
PmException
pmCartSphConvert
public static int pmCartSphConvert(PmCartesian v,
PmSpherical s)
throws PmException
- Throws:
PmException
toCart
public static PM_CARTESIAN toCart(PM_SPHERICAL v)
throws PmException
- Throws:
PmException
pmSphCartConvert
public static int pmSphCartConvert(PmSpherical s,
PmCartesian v)
throws PmException
- Throws:
PmException
toCyl
public static PM_CYLINDRICAL toCyl(PM_SPHERICAL s)
throws PmException
- Throws:
PmException
pmSphCylConvert
public static int pmSphCylConvert(PmSpherical s,
PmCylindrical c)
throws PmException
- Throws:
PmException
toCart
public static PM_CARTESIAN toCart(PM_CYLINDRICAL v)
throws PmException
- Throws:
PmException
pmCylCartConvert
public static int pmCylCartConvert(PmCylindrical c,
PmCartesian v)
throws PmException
- Throws:
PmException
toSph
public static PM_SPHERICAL toSph(PM_CYLINDRICAL c)
throws PmException
- Throws:
PmException
pmCylSphConvert
public static int pmCylSphConvert(PmCylindrical c,
PmSpherical s)
throws PmException
- Throws:
PmException
pmAxisAngleQuatConvert
public static int pmAxisAngleQuatConvert(int axis,
double a,
PmQuaternion q)
throws PmException
- Throws:
PmException
toQuat
public static PM_QUATERNION toQuat(PM_ROTATION_VECTOR v)
throws PmException
- Throws:
PmException
pmRotQuatConvert
public static int pmRotQuatConvert(PmRotationVector r,
PmQuaternion q)
throws PmException
- Throws:
PmException
toMat
public static PM_ROTATION_MATRIX toMat(PM_ROTATION_VECTOR v)
throws PmException
- Throws:
PmException
pmRotMatConvert
public static int pmRotMatConvert(PmRotationVector r,
PmRotationMatrix m)
throws PmException
- Throws:
PmException
pmRotZyzConvert
public static int pmRotZyzConvert(PmRotationVector r,
PmEulerZyz zyz)
throws PmException
- Throws:
PmException
pmRotZyxConvert
public static int pmRotZyxConvert(PmRotationVector r,
PmEulerZyx zyx)
throws PmException
- Throws:
PmException
pmRotRpyConvert
public static int pmRotRpyConvert(PmRotationVector r,
PmRpy rpy)
throws PmException
- Throws:
PmException
toRot
public static PM_ROTATION_VECTOR toRot(PM_QUATERNION v)
throws PmException
- Throws:
PmException
pmQuatRotConvert
public static int pmQuatRotConvert(PmQuaternion q,
PmRotationVector r)
throws PmException
- Throws:
PmException
toMat
public static PM_ROTATION_MATRIX toMat(PM_QUATERNION v)
throws PmException
- Throws:
PmException
pmQuatMatConvert
public static int pmQuatMatConvert(PmQuaternion q,
PmRotationMatrix m)
throws PmException
- Throws:
PmException
pmQuatZyzConvert
public static int pmQuatZyzConvert(PmQuaternion q,
PmEulerZyz zyz)
throws PmException
- Throws:
PmException
pmQuatZyxConvert
public static int pmQuatZyxConvert(PmQuaternion q,
PmEulerZyx zyx)
throws PmException
- Throws:
PmException
toRpy
public static PM_RPY toRpy(PM_QUATERNION v)
throws PmException
- Throws:
PmException
pmQuatRpyConvert
public static int pmQuatRpyConvert(PmQuaternion q,
PmRpy rpy)
throws PmException
- Throws:
PmException
pmMatRotConvert
public static int pmMatRotConvert(PmRotationMatrix m,
PmRotationVector r)
throws PmException
- Throws:
PmException
toQuat
public static PM_QUATERNION toQuat(PM_ROTATION_MATRIX m)
throws PmException
- Throws:
PmException
pmMatQuatConvert
public static int pmMatQuatConvert(PmRotationMatrix m,
PmQuaternion q)
throws PmException
- Throws:
PmException
pmMatZyzConvert
public static int pmMatZyzConvert(PmRotationMatrix m,
PmEulerZyz zyz)
throws PmException
- Throws:
PmException
pmMatZyxConvert
public static int pmMatZyxConvert(PmRotationMatrix m,
PmEulerZyx zyx)
throws PmException
- Throws:
PmException
pmMatRpyConvert
public static int pmMatRpyConvert(PmRotationMatrix m,
PmRpy rpy)
throws PmException
- Throws:
PmException
pmZyzRotConvert
public static int pmZyzRotConvert(PmEulerZyz zyz,
PmRotationVector r)
throws PmException
- Throws:
PmException
toQuat
public static PM_QUATERNION toQuat(PM_EULER_ZYZ v)
throws PmException
- Throws:
PmException
pmZyzQuatConvert
public static int pmZyzQuatConvert(PmEulerZyz zyz,
PmQuaternion q)
throws PmException
- Throws:
PmException
pmZyzMatConvert
public static int pmZyzMatConvert(PmEulerZyz zyz,
PmRotationMatrix m)
throws PmException
- Throws:
PmException
pmZyzRpyConvert
public static int pmZyzRpyConvert(PmEulerZyz zyz,
PmRpy rpy)
throws PmException
- Throws:
PmException
pmZyxRotConvert
public static int pmZyxRotConvert(PmEulerZyx zyx,
PmRotationVector r)
throws PmException
- Throws:
PmException
toQuat
public static PM_QUATERNION toQuat(PM_EULER_ZYX v)
throws PmException
- Throws:
PmException
pmZyxQuatConvert
public static int pmZyxQuatConvert(PmEulerZyx zyx,
PmQuaternion q)
throws PmException
- Throws:
PmException
pmZyxMatConvert
public static int pmZyxMatConvert(PmEulerZyx zyx,
PmRotationMatrix m)
throws PmException
- Throws:
PmException
pmZyxZyzConvert
public static int pmZyxZyzConvert(PmEulerZyx zyx,
PmEulerZyz zyz)
throws PmException
- Throws:
PmException
pmZyxRpyConvert
public static int pmZyxRpyConvert(PmEulerZyx zyx,
PmRpy rpy)
throws PmException
- Throws:
PmException
pmRpyRotConvert
public static int pmRpyRotConvert(PmRpy rpy,
PmRotationVector r)
throws PmException
- Throws:
PmException
toQuat
public static PM_QUATERNION toQuat(PM_RPY v)
throws PmException
- Throws:
PmException
pmRpyQuatConvert
public static int pmRpyQuatConvert(PmRpy rpy,
PmQuaternion q)
throws PmException
- Throws:
PmException
pmRpyMatConvert
public static int pmRpyMatConvert(PmRpy rpy,
PmRotationMatrix m)
throws PmException
- Throws:
PmException
pmRpyZyzConvert
public static int pmRpyZyzConvert(PmRpy rpy,
PmEulerZyz zyz)
throws PmException
- Throws:
PmException
pmRpyZyxConvert
public static int pmRpyZyxConvert(PmRpy rpy,
PmEulerZyx zyx)
throws PmException
- Throws:
PmException
toHom
public static PM_HOMOGENEOUS toHom(PM_POSE p)
throws PmException
- Throws:
PmException
pmPoseHomConvert
public static int pmPoseHomConvert(PmPose p,
PmHomogeneous h)
throws PmException
- Throws:
PmException
pmHomPoseConvert
public static int pmHomPoseConvert(PmHomogeneous h,
PmPose p)
throws PmException
- Throws:
PmException
pmCartCartCompare
public static boolean pmCartCartCompare(PmCartesian v1,
PmCartesian v2)
throws PmException
- Throws:
PmException
dot
public static double dot(PM_CARTESIAN v1,
PM_CARTESIAN v2)
throws PmException
- Throws:
PmException
pmCartCartDot
public static double pmCartCartDot(PmCartesian v1,
PmCartesian v2)
throws PmException
- Throws:
PmException
cross
public static PM_CARTESIAN cross(PM_CARTESIAN v1,
PM_CARTESIAN v2)
throws PmException
- Throws:
PmException
pmCartCartCross
public static int pmCartCartCross(PmCartesian v1,
PmCartesian v2,
PmCartesian vout)
throws PmException
- Throws:
PmException
mag
public static double mag(PM_CARTESIAN v)
throws PmException
- Throws:
PmException
pmCartMag
public static double pmCartMag(PmCartesian v)
throws PmException
- Throws:
PmException
disp
public static double disp(PM_CARTESIAN v1,
PM_CARTESIAN v2)
throws PmException
- Throws:
PmException
pmCartCartDisp
public static double pmCartCartDisp(PmCartesian v1,
PmCartesian v2)
throws PmException
- Throws:
PmException
add
public static PM_CARTESIAN add(PM_CARTESIAN v1,
PM_CARTESIAN v2)
throws PmException
- Throws:
PmException
pmCartCartAdd
public static int pmCartCartAdd(PmCartesian v1,
PmCartesian v2,
PmCartesian vout)
throws PmException
- Throws:
PmException
subtract
public static PM_CARTESIAN subtract(PM_CARTESIAN v1,
PM_CARTESIAN v2)
throws PmException
- Throws:
PmException
pmCartCartSub
public static int pmCartCartSub(PmCartesian v1,
PmCartesian v2,
PmCartesian vout)
throws PmException
- Throws:
PmException
multiply
public static PM_CARTESIAN multiply(double d,
PM_CARTESIAN v)
throws PmException
- Throws:
PmException
multiply
public static PM_CARTESIAN multiply(PM_CARTESIAN v,
double d)
throws PmException
- Throws:
PmException
pmCartScalMult
public static int pmCartScalMult(PmCartesian v1,
double d,
PmCartesian vout)
throws PmException
- Throws:
PmException
divide
public static PM_CARTESIAN divide(PM_CARTESIAN v,
double d)
throws PmException
- Throws:
PmException
pmCartScalDiv
public static int pmCartScalDiv(PmCartesian v1,
double d,
PmCartesian vout)
throws PmException
- Throws:
PmException
neg
public static PM_CARTESIAN neg(PM_CARTESIAN v)
throws PmException
- Throws:
PmException
pmCartNeg
public static int pmCartNeg(PmCartesian v1,
PmCartesian vout)
throws PmException
- Throws:
PmException
inv
public static PM_CARTESIAN inv(PM_CARTESIAN v)
throws PmException
- Throws:
PmException
pmCartInv
public static int pmCartInv(PmCartesian v1,
PmCartesian vout)
throws PmException
- Throws:
PmException
norm
public static PM_CARTESIAN norm(PM_CARTESIAN v)
throws PmException
- Throws:
PmException
pmCartNorm
public static int pmCartNorm(PmCartesian v,
PmCartesian vout)
throws PmException
- Throws:
PmException
isNorm
public static boolean isNorm(PM_CARTESIAN v)
throws PmException
- Throws:
PmException
pmCartIsNorm
public static boolean pmCartIsNorm(PmCartesian v)
throws PmException
- Throws:
PmException
proj
public static PM_CARTESIAN proj(PM_CARTESIAN v1,
PM_CARTESIAN v2)
throws PmException
- Throws:
PmException
pmCartCartProj
public static int pmCartCartProj(PmCartesian v1,
PmCartesian v2,
PmCartesian vout)
throws PmException
- Throws:
PmException
pmCartPlaneProj
public static int pmCartPlaneProj(PmCartesian v,
PmCartesian normal,
PmCartesian vout)
throws PmException
- Throws:
PmException
add
public static PM_CYLINDRICAL add(PM_CYLINDRICAL c1,
PM_CYLINDRICAL c2)
throws PmException
- Throws:
PmException
pmCylCylAdd
public static int pmCylCylAdd(PmCylindrical c1,
PmCylindrical c2,
PmCylindrical cout)
throws PmException
- Throws:
PmException
subtract
public static PM_CYLINDRICAL subtract(PM_CYLINDRICAL c1,
PM_CYLINDRICAL c2)
throws PmException
- Throws:
PmException
pmCylCylSub
public static int pmCylCylSub(PmCylindrical c1,
PmCylindrical c2,
PmCylindrical cout)
throws PmException
- Throws:
PmException
multiply
public static PM_CYLINDRICAL multiply(double d,
PM_CYLINDRICAL c)
throws PmException
- Throws:
PmException
multiply
public static PM_CYLINDRICAL multiply(PM_CYLINDRICAL c,
double d)
throws PmException
- Throws:
PmException
pmCylScalMult
public static int pmCylScalMult(PmCylindrical v1,
double d,
PmCylindrical vout)
throws PmException
- Throws:
PmException
divide
public static PM_CYLINDRICAL divide(PM_CYLINDRICAL c,
double d)
throws PmException
- Throws:
PmException
pmCylScalDiv
public static int pmCylScalDiv(PmCylindrical v1,
double d,
PmCylindrical vout)
throws PmException
- Throws:
PmException
pmCylCylCompare
public static boolean pmCylCylCompare(PmCylindrical v1,
PmCylindrical v2)
throws PmException
- Throws:
PmException
dot
public static double dot(PM_CYLINDRICAL v1,
PM_CYLINDRICAL v2)
throws PmException
- Throws:
PmException
pmCylCylDot
public static double pmCylCylDot(PmCylindrical c1,
PmCylindrical c2)
throws PmException
- Throws:
PmException
mag
public static double mag(PM_CYLINDRICAL v1)
throws PmException
- Throws:
PmException
pmCylMag
public static double pmCylMag(PmCylindrical c)
throws PmException
- Throws:
PmException
cross
public static PM_CYLINDRICAL cross(PM_CYLINDRICAL v1,
PM_CYLINDRICAL v2)
throws PmException
- Throws:
PmException
pmCylCylCross
public static int pmCylCylCross(PmCylindrical c1,
PmCylindrical c2,
PmCylindrical cout)
throws PmException
- Throws:
PmException
neg
public static PM_CYLINDRICAL neg(PM_CYLINDRICAL v)
throws PmException
- Throws:
PmException
pmCylNeg
public static int pmCylNeg(PmCylindrical v1,
PmCylindrical vout)
throws PmException
- Throws:
PmException
norm
public static PM_CYLINDRICAL norm(PM_CYLINDRICAL v)
throws PmException
- Throws:
PmException
pmCylNorm
public static int pmCylNorm(PmCylindrical v,
PmCylindrical vout)
throws PmException
- Throws:
PmException
inv
public static PM_CYLINDRICAL inv(PM_CYLINDRICAL v)
throws PmException
- Throws:
PmException
pmCylInv
public static int pmCylInv(PmCylindrical c,
PmCylindrical cout)
throws PmException
- Throws:
PmException
isNorm
public static boolean isNorm(PM_CYLINDRICAL v)
throws PmException
- Throws:
PmException
pmCylIsNorm
public static boolean pmCylIsNorm(PmCylindrical v)
throws PmException
- Throws:
PmException
pmQuatAxisAngleMult
public static PmQuaternion pmQuatAxisAngleMult(PmQuaternion q,
int axis,
double angle)
throws PmException
- Throws:
PmException
pmQuatAxisAngleMult
public static int pmQuatAxisAngleMult(PmQuaternion q,
int axis,
double angle,
PmQuaternion pq)
throws PmException
- Throws:
PmException
multiply
public static PM_ROTATION_VECTOR multiply(PM_ROTATION_VECTOR r,
double s)
throws PmException
- Throws:
PmException
multiply
public static PmRotationVector multiply(double s,
PM_ROTATION_VECTOR r)
throws PmException
- Throws:
PmException
pmRotScalMult
public static int pmRotScalMult(PmRotationVector r,
double s,
PmRotationVector rout)
throws PmException
- Throws:
PmException
divide
public static PM_ROTATION_VECTOR divide(PM_ROTATION_VECTOR r,
double s)
throws PmException
- Throws:
PmException
pmRotScalDiv
public static int pmRotScalDiv(PmRotationVector r,
double s,
PmRotationVector rout)
throws PmException
- Throws:
PmException
isNorm
public static boolean isNorm(PM_ROTATION_VECTOR r)
throws PmException
- Throws:
PmException
pmRotIsNorm
public static boolean pmRotIsNorm(PmRotationVector r)
throws PmException
- Throws:
PmException
norm
public static PM_ROTATION_VECTOR norm(PM_ROTATION_VECTOR r)
throws PmException
- Throws:
PmException
pmRotNorm
public static int pmRotNorm(PmRotationVector r,
PmRotationVector rout)
throws PmException
- Throws:
PmException
pmMatNorm
public static int pmMatNorm(PmRotationMatrix m,
PmRotationMatrix mout)
throws PmException
- Throws:
PmException
isNorm
public static boolean isNorm(PM_ROTATION_MATRIX m)
throws PmException
- Throws:
PmException
pmMatIsNorm
public static boolean pmMatIsNorm(PmRotationMatrix m)
throws PmException
- Throws:
PmException
pmMatInv
public static int pmMatInv(PmRotationMatrix m,
PmRotationMatrix mout)
throws PmException
- Throws:
PmException
multiply
public static PM_CARTESIAN multiply(PM_ROTATION_MATRIX m,
PM_CARTESIAN v)
throws PmException
- Throws:
PmException
pmMatCartMult
public static int pmMatCartMult(PmRotationMatrix m,
PmCartesian v,
PmCartesian vout)
throws PmException
- Throws:
PmException
multiply
public static PM_ROTATION_MATRIX multiply(PM_ROTATION_MATRIX m1,
PM_ROTATION_MATRIX m2)
throws PmException
- Throws:
PmException
pmMatMatMult
public static int pmMatMatMult(PmRotationMatrix m1,
PmRotationMatrix m2,
PmRotationMatrix mout)
throws PmException
- Throws:
PmException
pmQuatQuatCompare
public static boolean pmQuatQuatCompare(PmQuaternion q1,
PmQuaternion q2)
throws PmException
- Throws:
PmException
mag
public static double mag(PM_QUATERNION q)
throws PmException
- Throws:
PmException
pmQuatMag
public static double pmQuatMag(PmQuaternion q)
throws PmException
- Throws:
PmException
norm
public static PM_QUATERNION norm(PM_QUATERNION q1)
throws PmException
- Throws:
PmException
pmQuatNorm
public static int pmQuatNorm(PmQuaternion q1,
PmQuaternion qout)
throws PmException
- Throws:
PmException
inv
public static PM_QUATERNION inv(PM_QUATERNION q1)
throws PmException
- Throws:
PmException
pmQuatInv
public static int pmQuatInv(PmQuaternion q1,
PmQuaternion qout)
throws PmException
- Throws:
PmException
isNorm
public static boolean isNorm(PM_QUATERNION q1)
throws PmException
- Throws:
PmException
pmQuatIsNorm
public static boolean pmQuatIsNorm(PmQuaternion q1)
throws PmException
- Throws:
PmException
multiply
public static PM_QUATERNION multiply(PM_QUATERNION q,
double s)
throws PmException
- Throws:
PmException
multiply
public static PM_QUATERNION multiply(double s,
PM_QUATERNION q)
throws PmException
- Throws:
PmException
pmQuatScalMult
public static int pmQuatScalMult(PmQuaternion q,
double s,
PmQuaternion qout)
throws PmException
- Throws:
PmException
divide
public static PM_QUATERNION divide(PM_QUATERNION q,
double s)
throws PmException
- Throws:
PmException
pmQuatScalDiv
public static int pmQuatScalDiv(PmQuaternion q,
double s,
PmQuaternion qout)
throws PmException
- Throws:
PmException
multiply
public static PM_QUATERNION multiply(PM_QUATERNION q1,
PM_QUATERNION q2)
throws PmException
- Throws:
PmException
pmQuatQuatMult
public static int pmQuatQuatMult(PmQuaternion q1,
PmQuaternion q2,
PmQuaternion qout)
throws PmException
- Throws:
PmException
multiply
public static PM_CARTESIAN multiply(PM_QUATERNION q1,
PM_CARTESIAN v2)
throws PmException
- Throws:
PmException
pmQuatCartMult
public static int pmQuatCartMult(PmQuaternion q1,
PmCartesian v2,
PmCartesian vout)
throws PmException
- Throws:
PmException
pmPosePoseCompare
public static boolean pmPosePoseCompare(PmPose p1,
PmPose p2)
throws PmException
- Throws:
PmException
inv
public static PM_POSE inv(PM_POSE p)
throws PmException
- Throws:
PmException
pmPoseInv
public static int pmPoseInv(PmPose p1,
PmPose p2)
throws PmException
- Throws:
PmException
multiply
public static PM_CARTESIAN multiply(PM_POSE p1,
PM_CARTESIAN v2)
throws PmException
- Throws:
PmException
pmPoseCartMult
public static int pmPoseCartMult(PmPose p1,
PmCartesian v2,
PmCartesian vout)
throws PmException
- Throws:
PmException
multiply
public static PM_POSE multiply(PM_POSE p1,
PM_POSE p2)
throws PmException
- Throws:
PmException
pmPosePoseMult
public static int pmPosePoseMult(PmPose p1,
PmPose p2,
PmPose pout)
throws PmException
- Throws:
PmException
inv
public static PM_HOMOGENEOUS inv(PM_HOMOGENEOUS h)
throws PmException
- Throws:
PmException
pmHomInv
public static int pmHomInv(PmHomogeneous h1,
PmHomogeneous h2)
throws PmException
- Throws:
PmException
pmLineInit
public static int pmLineInit(PmLine line,
PmPose start,
PmPose end)
throws PmException
- Throws:
PmException
pmLinePoint
public static int pmLinePoint(PmLine line,
double len,
PmPose point)
throws PmException
- Throws:
PmException
pmCircleInit
public static int pmCircleInit(PmCircle circle,
PmPose start,
PmPose end,
PmCartesian center,
PmCartesian normal,
int turn)
throws PmException
- Throws:
PmException
pmCirclePoint
public static int pmCirclePoint(PmCircle circle,
double angle,
PmPose point)
throws PmException
- Throws:
PmException