Homogenous matrix to describe translations and rotations simultaneously. More...

#include <RotoTrans.h>

Inheritance diagram for biorbd::utils::RotoTrans:

Public Member Functions
	RotoTrans (const RigidBodyDynamics::Math::Matrix4d &matrix=RigidBodyDynamics::Math::Matrix4d::Identity())
	Construct RotoTrans matrix. More...

	RotoTrans (const biorbd::utils::Scalar &v00, const biorbd::utils::Scalar &v01, const biorbd::utils::Scalar &v02, const biorbd::utils::Scalar &v03, const biorbd::utils::Scalar &v10, const biorbd::utils::Scalar &v11, const biorbd::utils::Scalar &v12, const biorbd::utils::Scalar &v13, const biorbd::utils::Scalar &v20, const biorbd::utils::Scalar &v21, const biorbd::utils::Scalar &v22, const biorbd::utils::Scalar &v23, const biorbd::utils::Scalar &v30, const biorbd::utils::Scalar &v31, const biorbd::utils::Scalar &v32, const biorbd::utils::Scalar &v33)
	RotoTrans Construct a RotoTrans matrix by elements. More...

	RotoTrans (const biorbd::utils::Rotation &rot)
	Contruct Rototrans. More...

	RotoTrans (const biorbd::utils::Rotation &rot, const biorbd::utils::Vector3d &trans)
	Contruct Rototrans. More...

	RotoTrans (const biorbd::utils::Vector &rotation, const biorbd::utils::Vector3d &translation, const biorbd::utils::String &rotationSequence)
	Contruct Rototrans. More...

	RotoTrans (const RigidBodyDynamics::Math::SpatialTransform &st)
	Contruct Rototrans. More...

biorbd::utils::Vector3d	axe (unsigned int idx) const
	Get a particular axis of the rotation matrix. More...

biorbd::utils::RotoTrans	transpose () const
	Return the tranposed matrix. More...

biorbd::utils::Vector3d	trans () const
	Return the translation vector. More...

biorbd::utils::Rotation	rot () const
	Return the rotation matrix. More...

Static Public Member Functions
static biorbd::utils::RotoTrans	fromMarkers (const biorbd::rigidbody::NodeSegment &origin, const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &axis1markers, const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &axis2markers, const std::pair< biorbd::utils::String, biorbd::utils::String > &axesNames, const biorbd::utils::String &axisToRecalculate)
	fromMarkers Creates a system of axes from two axes and an origin defined by markers More...

static biorbd::utils::RotoTrans	combineRotAndTrans (const biorbd::utils::Rotation &rot, const biorbd::utils::Vector3d &trans)
	Set the RotoTrans from a rotation and a translation. More...

static biorbd::utils::RotoTrans	fromSpatialTransform (const RigidBodyDynamics::Math::SpatialTransform &st)
	set the RotoTrans from a spatial transform More...

static biorbd::utils::RotoTrans	fromEulerAngles (const biorbd::utils::Vector &rot, const biorbd::utils::Vector3d &trans, const biorbd::utils::String &seq)
	Create a RotoTrans from Euler angles. More...

static biorbd::utils::Vector	toEulerAngles (const biorbd::utils::RotoTrans &rt, const biorbd::utils::String &seq)
	Return extracted angles from the rotation matrix into Euler angles using the provided sequence. More...

static biorbd::utils::RotoTrans	mean (const std::vector< biorbd::utils::RotoTrans > &rt)
	Get the mean of the 4x4 matrices. More...

Protected Member Functions
RigidBodyDynamics::Math::Vector4d	expand3dTo4d (const biorbd::utils::Vector3d &v1)
	Expand 3D vector to 4D (padding with an extra 1) More...

void	checkUnitary ()
	Check if the RotoTrans has a unitary matrix of rotation and the last row is (0, 0, 0, 1) More...

Detailed Description

Homogenous matrix to describe translations and rotations simultaneously.

Definition at line 32 of file RotoTrans.h.

Constructor & Destructor Documentation

◆ RotoTrans() [1/6]

biorbd::utils::RotoTrans::RotoTrans ( const RigidBodyDynamics::Math::Matrix4d & matrix = RigidBodyDynamics::Math::Matrix4d::Identity() )

Construct RotoTrans matrix.

Parameters

matrix 4D identity matrix

Definition at line 12 of file RotoTrans.cpp.

◆ RotoTrans() [2/6]

biorbd::utils::RotoTrans::RotoTrans	(	const biorbd::utils::Scalar &	v00,
		const biorbd::utils::Scalar &	v01,
		const biorbd::utils::Scalar &	v02,
		const biorbd::utils::Scalar &	v03,
		const biorbd::utils::Scalar &	v10,
		const biorbd::utils::Scalar &	v11,
		const biorbd::utils::Scalar &	v12,
		const biorbd::utils::Scalar &	v13,
		const biorbd::utils::Scalar &	v20,
		const biorbd::utils::Scalar &	v21,
		const biorbd::utils::Scalar &	v22,
		const biorbd::utils::Scalar &	v23,
		const biorbd::utils::Scalar &	v30,
		const biorbd::utils::Scalar &	v31,
		const biorbd::utils::Scalar &	v32,
		const biorbd::utils::Scalar &	v33
	)

RotoTrans Construct a RotoTrans matrix by elements.

Parameters

v00	Row 0, Col 0
v01	Row 0, Col 1
v02	Row 0, Col 2
v03	Row 0, Col 3
v10	Row 1, Col 0
v11	Row 1, Col 1
v12	Row 1, Col 2
v13	Row 1, Col 3
v20	Row 2, Col 0
v21	Row 2, Col 1
v22	Row 2, Col 2
v23	Row 2, Col 3
v30	Row 3, Col 0
v31	Row 3, Col 1
v32	Row 3, Col 2
v33	Row 3, Col 3

Definition at line 19 of file RotoTrans.cpp.

◆ RotoTrans() [3/6]

biorbd::utils::RotoTrans::RotoTrans ( const biorbd::utils::Rotation & rot )

Contruct Rototrans.

Parameters

rot	The rotation matrix

Definition at line 32 of file RotoTrans.cpp.

◆ RotoTrans() [4/6]

biorbd::utils::RotoTrans::RotoTrans	(	const biorbd::utils::Rotation &	rot,
		const biorbd::utils::Vector3d &	trans
	)

Contruct Rototrans.

Parameters

rot	The rotation matrix
trans	Translation vector

Definition at line 39 of file RotoTrans.cpp.

◆ RotoTrans() [5/6]

biorbd::utils::RotoTrans::RotoTrans	(	const biorbd::utils::Vector &	rotation,
		const biorbd::utils::Vector3d &	translation,
		const biorbd::utils::String &	rotationSequence
	)

Contruct Rototrans.

Parameters

rotation	The Euler angles vector
translation	The translation vector
rotationSequence	The rotation sequence

The number of rotation must match the number of axes in the rotation sequence

Definition at line 47 of file RotoTrans.cpp.

◆ RotoTrans() [6/6]

biorbd::utils::RotoTrans::RotoTrans ( const RigidBodyDynamics::Math::SpatialTransform & st )

Contruct Rototrans.

Parameters

st	Spatial Transform vector

Definition at line 56 of file RotoTrans.cpp.

Member Function Documentation

◆ axe()

biorbd::utils::Vector3d biorbd::utils::RotoTrans::axe ( unsigned int idx ) const

Get a particular axis of the rotation matrix.

Parameters

idx	The index of axis (x = 0, y = 1 and z = 2)

Returns: The axis

Definition at line 76 of file RotoTrans.cpp.

◆ checkUnitary()

void biorbd::utils::RotoTrans::checkUnitary ( )

protected

Check if the RotoTrans has a unitary matrix of rotation and the last row is (0, 0, 0, 1)

That function throws a runtime_error if the check fails

Definition at line 169 of file RotoTrans.cpp.

◆ combineRotAndTrans()

biorbd::utils::RotoTrans biorbd::utils::RotoTrans::combineRotAndTrans	(	const biorbd::utils::Rotation &	rot,
		const biorbd::utils::Vector3d &	trans
	)

static

Set the RotoTrans from a rotation and a translation.

Parameters

rot	The matrix of rotation
trans	The vector of translation

Returns: The matrix of RotoTrans

Definition at line 102 of file RotoTrans.cpp.

◆ expand3dTo4d()

RigidBodyDynamics::Math::Vector4d biorbd::utils::RotoTrans::expand3dTo4d ( const biorbd::utils::Vector3d & v1 )

protected

Expand 3D vector to 4D (padding with an extra 1)

Parameters

v1	Vector to expand

Definition at line 161 of file RotoTrans.cpp.

◆ fromEulerAngles()

biorbd::utils::RotoTrans biorbd::utils::RotoTrans::fromEulerAngles	(	const biorbd::utils::Vector &	rot,
		const biorbd::utils::Vector3d &	trans,
		const biorbd::utils::String &	seq
	)

static

Create a RotoTrans from Euler angles.

Parameters

rot	The Euler angles vector
trans	The translation vector
seq	The rotation sequence

The number of rotation umust match the number of axes in the rotation sequence

Definition at line 118 of file RotoTrans.cpp.

◆ fromMarkers()

biorbd::utils::RotoTrans biorbd::utils::RotoTrans::fromMarkers	(	const biorbd::rigidbody::NodeSegment &	origin,
		const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &	axis1markers,
		const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &	axis2markers,
		const std::pair< biorbd::utils::String, biorbd::utils::String > &	axesNames,
		const biorbd::utils::String &	axisToRecalculate
	)

static

fromMarkers Creates a system of axes from two axes and an origin defined by markers

Parameters

origin	The position of the origin
axis1markers	The beginning and ending of the vector of the first axis
axis2markers	The beginning and ending of the vector of the second axis
axesNames	The names ("x", "y" or "z") of the axes
axisToRecalculate	The axis to recalculate to ensure orthonormal system of axes

Returns: The system of axes

Definition at line 63 of file RotoTrans.cpp.

◆ fromSpatialTransform()

biorbd::utils::RotoTrans biorbd::utils::RotoTrans::fromSpatialTransform ( const RigidBodyDynamics::Math::SpatialTransform & st )

static

set the RotoTrans from a spatial transform

Parameters

st	The spatial transform

Returns: The matrix of RotoTrans

Definition at line 112 of file RotoTrans.cpp.

◆ mean()

biorbd::utils::RotoTrans biorbd::utils::RotoTrans::mean ( const std::vector< biorbd::utils::RotoTrans > & rt )

static

Get the mean of the 4x4 matrices.

Parameters

rt	The RotoTrans matrices to mean

Returns: The mean RotoTrans

Definition at line 140 of file RotoTrans.cpp.

◆ rot()

biorbd::utils::Rotation biorbd::utils::RotoTrans::rot ( ) const

Return the rotation matrix.

Returns: The rotation matrix

Definition at line 97 of file RotoTrans.cpp.

◆ toEulerAngles()

biorbd::utils::Vector biorbd::utils::RotoTrans::toEulerAngles	(	const biorbd::utils::RotoTrans &	rt,
		const biorbd::utils::String &	seq
	)

static

Return extracted angles from the rotation matrix into Euler angles using the provided sequence.

Parameters

rt	The RotoTrans matrix to extract angles from
seq	The angle sequence

Returns: The angles (the length of the vector will match the length of sequence)

The rotation sequence can be any combination of x, y and z

Definition at line 132 of file RotoTrans.cpp.

◆ trans()

biorbd::utils::Vector3d biorbd::utils::RotoTrans::trans ( ) const

Return the translation vector.

Returns: The translation vector

Definition at line 92 of file RotoTrans.cpp.

◆ transpose()

biorbd::utils::RotoTrans biorbd::utils::RotoTrans::transpose ( ) const

Return the tranposed matrix.

Returns: The transposed matrix

Definition at line 83 of file RotoTrans.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RotoTrans() [1/6]

◆ RotoTrans() [2/6]

◆ RotoTrans() [3/6]

◆ RotoTrans() [4/6]

◆ RotoTrans() [5/6]

◆ RotoTrans() [6/6]

Member Function Documentation

◆ axe()

◆ checkUnitary()

◆ combineRotAndTrans()

◆ expand3dTo4d()

◆ fromEulerAngles()

◆ fromMarkers()

◆ fromSpatialTransform()

◆ mean()

◆ rot()

◆ toEulerAngles()

◆ trans()

◆ transpose()