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