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SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectrcs.posemath.Posemath
public class Posemath
Class created only for its static functions to convert and manipulate the pose representations in the rest of the package. Adapted from _posemath.c and posemath.cc.
Field Summary | |
---|---|
static double |
CART_FUZZ
|
static double |
DBL_MAX
|
static boolean |
debug_on
|
static double |
DOUBLE_FUZZ
|
static double |
DOUBLECP_FUZZ
|
static double |
E_EPSILON
|
static PmRotationMatrix |
last_bad_rotmat
|
static double |
PI
|
static double |
PI_2
|
static double |
PI_4
|
static double |
PM_2_PI
|
static int |
PM_DIV_ERR
|
static int |
PM_ERR
|
static int |
PM_IMPL_ERR
|
static int |
PM_NORM_ERR
|
static double |
PM_PI
|
static double |
PM_PI_2
|
static double |
PM_PI_4
|
static boolean |
PM_PRINT_ERROR
|
static int |
PM_X
|
static int |
PM_Y
|
static int |
PM_Z
|
static int |
pmErrno
|
static double |
Q_FUZZ
|
static double |
QS_FUZZ
|
static double |
QSIN_FUZZ
|
static double |
RPY_P_FUZZ
|
static double |
RS_FUZZ
|
static double |
SINGULAR_EPSILON
|
static double |
SQRT_FUZZ
|
static double |
UNIT_QUAT_FUZZ
|
static double |
UNIT_SC_FUZZ
|
static double |
UNIT_VEC_FUZZ
|
static double |
V_FUZZ
|
static double |
ZYX_Y_FUZZ
|
static double |
ZYZ_Y_FUZZ
|
Constructor Summary | |
---|---|
Posemath()
|
Method Summary | |
---|---|
static PM_CARTESIAN |
add(PM_CARTESIAN v1,
PM_CARTESIAN v2)
|
static PmCartesian |
add(PmCartesian v1,
PmCartesian v2)
|
static double[] |
cartListToMagArray(java.util.List<? extends PM_CARTESIAN> clin)
|
static PM_CARTESIAN |
centroid(java.util.List<? extends PM_CARTESIAN> l)
|
static PM_CARTESIAN |
centroid(PM_CARTESIAN[] l)
|
static double[] |
computeLineFitErrors(PM_LINE line,
java.util.List<? extends PmCartesian> l)
Compute an array of errors or the distance between each point in list l to line line. |
static PM_CARTESIAN |
cross(PM_CARTESIAN v1,
PM_CARTESIAN v2)
|
static PM_CYLINDRICAL |
cross(PM_CYLINDRICAL v1,
PM_CYLINDRICAL v2)
|
static void |
csvSync(java.io.File f1,
java.io.File f2,
java.io.PrintStream psOut)
|
static double[][] |
csvToHomMats(java.lang.String filename,
int x_pos,
int y_pos,
int z_pos,
int roll_pos,
int pitch_pos,
int yaw_pos)
|
static double[][] |
csvToHomMatsChk(java.lang.String filename,
int x_pos,
int y_pos,
int z_pos,
int roll_pos,
int pitch_pos,
int yaw_pos)
|
static java.util.List<java.lang.Double> |
csvToList(java.lang.String filename,
int pos)
|
static java.util.List<java.lang.Double> |
csvToListF(java.io.File f,
int pos)
|
static java.util.List<PM_POSE> |
csvToPoseList(java.lang.String filename,
int x_pos,
int y_pos,
int z_pos,
int roll_pos,
int pitch_pos,
int yaw_pos)
|
static java.util.List<PM_POSE> |
csvToPoseListF(java.io.File f,
int x_pos,
int y_pos,
int z_pos,
int roll_pos,
int pitch_pos,
int yaw_pos)
|
static java.util.List<PM_POSE> |
csvWithTimeToPoseList(java.lang.String filename,
java.util.List<java.lang.Double> timeList,
int time_pos,
int x_pos,
int y_pos,
int z_pos,
int roll_pos,
int pitch_pos,
int yaw_pos)
|
static java.util.List<PM_POSE> |
csvWithTimeToPoseListF(java.io.File f,
java.util.List<java.lang.Double> timeList,
int time_pos,
int x_pos,
int y_pos,
int z_pos,
int roll_pos,
int pitch_pos,
int yaw_pos)
|
static double |
disp(PM_CARTESIAN v1,
PM_CARTESIAN v2)
|
static double |
dist_from_line(PM_LINE line,
PM_CARTESIAN c)
|
static double |
distFromPath(PM_CARTESIAN p,
PM_CARTESIAN[] waypoints)
Return the minimum distance of the point p from the path specified by the array of waypoints. |
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 double |
dot(PmCartesian v1,
PmCartesian v2)
|
static java.util.List<PM_POSE> |
findStillPoints(java.util.List<java.lang.Double> tlist,
java.util.List<PM_POSE> posList,
double velThresh,
int avg_thresh,
java.util.List<java.lang.Double> stillTimes)
|
static void |
findStillTimes(java.lang.String[] args)
|
static PM_CIRCLE |
fitCircle2D_XY(java.util.List<? extends PmCartesian> l)
Ignores the z value in each element of the list and returns a circle fit with least-squares error to x,y points |
static PM_LINE |
fitLine(java.util.List<? extends PmCartesian> l)
Ignores the z value in each element of the list and returns a line fit with least-squares error to x,y points |
static java.util.List<PM_LINE> |
fitLines(java.util.List<? extends PM_CARTESIAN> l,
double tolerance,
int max_lines)
|
static PM_POSE |
getCk1Pose()
|
static PM_POSE |
getCk2Pose()
|
static java.util.List<PM_POSE> |
homMatsChk(double[][] X,
double[][] A,
double[][] Y,
double[][] B)
|
static java.util.List<PM_POSE> |
homMatsPrePostMult(double[][] X,
double[][] A,
double[][] Y)
|
static java.util.List<PM_POSE> |
homMatsToPoseList(double[][] dd)
|
static boolean |
in_line_segment(PM_LINE l,
PM_CARTESIAN c1,
double tol)
|
static PM_CARTESIAN |
intersection(PM_LINE l1,
PM_LINE l2)
|
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 PM_XYA |
inv(PM_XYA p)
|
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 double |
mag(PmCartesian v)
|
static void |
main(java.lang.String[] args)
|
static double |
maxA(double[] da)
|
static double |
mean(double[] da)
|
static double |
mean(java.lang.Double[] da)
|
static double |
mean(java.util.List<java.lang.Double> l)
|
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 PmCartesian |
multiply(double d,
PmCartesian v)
|
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_CARTESIAN[] |
multiply(PM_POSE pose,
PM_CARTESIAN[] l)
|
static PM_POSE |
multiply(PM_POSE p1,
PM_POSE p2)
|
static PM_QUATERNION |
multiply(PM_QUATERNION q,
double s)
|
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 java.util.ArrayList<PM_CARTESIAN> |
multiply(PM_XYA xya,
java.util.List<? extends PM_CARTESIAN> l)
|
static PM_CARTESIAN |
multiply(PM_XYA p1,
PM_CARTESIAN p2)
|
static PM_CARTESIAN[] |
multiply(PM_XYA xya,
PM_CARTESIAN[] l)
|
static PM_XYA |
multiply(PM_XYA p1,
PM_XYA p2)
|
static PmCartesian |
multiply(PmCartesian v,
double d)
|
static PM_CARTESIAN |
multiply(PmQuaternion q1,
PM_CARTESIAN v2)
|
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)
Store a quaternion based on a single rotation about an axis |
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 PmCartesian |
pmCartCentroid(java.util.List<? extends PmCartesian> l)
|
static PmCartesian |
pmCartCentroid(PmCartesian[] l)
|
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)
Convert a PmCartesian to PmSpherical |
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)
Determine if a within eps of b. |
static int |
pmCylCartConvert(PmCylindrical c,
PmCartesian v)
Convert cylindrical to cartesian. |
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)
Convert a cylindrical to a spherical |
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)
|
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)
Convert a quaternion to a rotation vector |
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)
Convert a rotation vector to a rotation matrix. |
static int |
pmRotNorm(PmRotationVector r,
PmRotationVector rout)
|
static int |
pmRotQuatConvert(PmRotationVector r,
PmQuaternion q)
Convert a rotation vector to a quaternion |
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 |
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)
Convert PmSherical to PmCartesian |
static int |
pmSphCylConvert(PmSpherical s,
PmCylindrical c)
Convert a spherical to cylindrical |
static double |
pmSq(double x)
Square of x or x*x. |
static double |
pmSqrt(double x)
Square root function that adds some extra checks similiar to the C++ pmSqrt() primarily only exists for converting C++ apps. |
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 |
point_on_line_segment(PM_CARTESIAN s,
PM_CARTESIAN e,
PM_CARTESIAN p)
|
static PM_CARTESIAN |
point_on_line(PM_CARTESIAN s,
PM_CARTESIAN u,
PM_CARTESIAN p)
|
static PM_CARTESIAN |
point_on_line(PM_LINE line,
PM_CARTESIAN p)
|
static PmCartesian |
point_on_line(PM_LINE line,
PmCartesian p)
|
static java.util.List<PM_POSE> |
poseListChk(PM_POSE X,
java.util.List<? extends PM_POSE> A,
PM_POSE Y,
java.util.List<? extends PM_POSE> B)
|
static java.util.List<PM_POSE> |
poseListInv(java.util.List<? extends PM_POSE> plin)
|
static java.util.List<PM_POSE> |
poseListPoseListMultiply(java.util.List<? extends PM_POSE> pl1,
java.util.List<? extends PM_POSE> pl2)
|
static java.util.List<PM_POSE> |
poseListRandom(int size,
double angle_noise,
double cart_noise)
|
static java.util.List<PM_CARTESIAN> |
poseListToCartList(java.util.List<? extends PM_POSE> plin)
|
static double[][] |
poseListToHomMats(java.util.List<? extends PM_POSE> l)
|
static java.util.List<PM_RPY> |
poseListToRpyList(java.util.List<? extends PM_POSE> plin)
|
static java.util.List<PM_POSE> |
prePostMultiplyList(java.util.List<? extends PM_POSE> l,
PM_POSE pre,
PM_POSE post)
|
static void |
printCorrelationShifts(java.lang.String fname1,
int f1,
java.lang.String fname2,
int f2,
double start_shift,
double end_shift,
double inc,
java.io.PrintStream ps)
|
static PM_CARTESIAN |
proj(PM_CARTESIAN v1,
PM_CARTESIAN v2)
|
static double[] |
rpyListToMagArray(java.util.List<? extends PM_RPY> rlin)
|
static double |
shiftedSumOfProducts(java.util.List<java.lang.Double> l1,
java.util.List<java.lang.Double> l2,
double dshift)
|
static java.util.List<PM_LINE> |
splitToLines(java.util.List<? extends PM_CARTESIAN> l,
int num_lines,
double[] max_error,
int[] best_indexes)
|
static double |
stddev(double[] da)
|
static double |
stddev(java.lang.Double[] da)
|
static double |
stddev(java.util.List<java.lang.Double> da)
|
static PM_CARTESIAN |
subtract(PM_CARTESIAN v1,
PM_CARTESIAN v2)
|
static PmCartesian |
subtract(PmCartesian v1,
PmCartesian v2)
|
static PM_CARTESIAN |
toCart(PM_CYLINDRICAL v)
Convert a cylindrical to a cartesian |
static PM_CARTESIAN |
toCart(PM_SPHERICAL v)
Convert PM_SPHERICAL to PM_CARTESIAN |
static PM_CYLINDRICAL |
toCyl(PM_SPHERICAL s)
Convert a spherical to cylindrical |
static PM_HOMOGENEOUS |
toHom(PM_POSE p)
|
static PM_ROTATION_MATRIX |
toMat(PM_QUATERNION v)
Convert a quaternion to a rotation matrix. |
static PM_ROTATION_MATRIX |
toMat(PM_ROTATION_VECTOR v)
Convert rotation vector to rotation matrix |
static PM_POSE |
toPose(double[][] dd)
|
static PM_POSE |
toPose(PM_HOMOGENEOUS h)
|
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)
Convert a rotation vector to a quaternion |
static PM_QUATERNION |
toQuat(PM_RPY v)
|
static PM_ROTATION_VECTOR |
toRot(PM_QUATERNION v)
Convert quaternion to a rotation vector |
static PM_ROTATION_VECTOR |
toRot(PM_RPY rpy)
|
static PM_RPY |
toRpy(PM_QUATERNION v)
|
static PM_RPY |
toRpy(PmRotationMatrix m)
|
static PM_SPHERICAL |
toSph(PM_CARTESIAN v)
Convert a PM_CARTESIAN to PM_SPHERICAL |
static PM_SPHERICAL |
toSph(PM_CYLINDRICAL c)
Convert a cylindrical to a spherical |
static double[][] |
tstArray()
|
static PM_CARTESIAN |
weightedAvg(PM_CARTESIAN c1,
double s1,
PM_CARTESIAN c2,
double s2)
Adds two PM_CARTESIANS and returns a weightedAvg ie. |
static PM_POSE |
weightedAvg(PM_POSE p1,
double s1,
PM_POSE p2,
double s2)
Adds two PM_POSES and returns a weightedAvg ie. |
static void |
writeTimeAndPoseList(java.util.List<java.lang.Double> tlist,
java.util.List<PM_POSE> posList,
java.io.PrintStream psOut)
|
static void |
writeTimeAndPoseListS(java.util.List<java.lang.Double> tlist,
java.util.List<PM_POSE> posList,
java.lang.String fname)
|
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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public static int pmErrno
public static boolean PM_PRINT_ERROR
public static boolean debug_on
public static final double CART_FUZZ
public static final double DOUBLECP_FUZZ
public static final double DOUBLE_FUZZ
public static final double E_EPSILON
public static final double PM_2_PI
public static final int PM_DIV_ERR
public static final int PM_ERR
public static final int PM_IMPL_ERR
public static final int PM_NORM_ERR
public static final double PM_PI
public static final double PM_PI_2
public static final double PM_PI_4
public static final double QSIN_FUZZ
public static final double QS_FUZZ
public static final double Q_FUZZ
public static final double RPY_P_FUZZ
public static final double RS_FUZZ
public static final double SINGULAR_EPSILON
public static final double SQRT_FUZZ
public static final double UNIT_QUAT_FUZZ
public static final double UNIT_SC_FUZZ
public static final double UNIT_VEC_FUZZ
public static final double V_FUZZ
public static final double ZYX_Y_FUZZ
public static final double ZYZ_Y_FUZZ
public static final double DBL_MAX
public static final double PI
public static final double PI_2
public static final double PI_4
public static final int PM_X
public static final int PM_Y
public static final int PM_Z
public static PmRotationMatrix last_bad_rotmat
Constructor Detail |
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public Posemath()
Method Detail |
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public static void writeTimeAndPoseListS(java.util.List<java.lang.Double> tlist, java.util.List<PM_POSE> posList, java.lang.String fname)
public static void writeTimeAndPoseList(java.util.List<java.lang.Double> tlist, java.util.List<PM_POSE> posList, java.io.PrintStream psOut) throws java.lang.Exception
java.lang.Exception
public static void csvSync(java.io.File f1, java.io.File f2, java.io.PrintStream psOut) throws java.lang.Exception
java.lang.Exception
public static double shiftedSumOfProducts(java.util.List<java.lang.Double> l1, java.util.List<java.lang.Double> l2, double dshift)
public static void printCorrelationShifts(java.lang.String fname1, int f1, java.lang.String fname2, int f2, double start_shift, double end_shift, double inc, java.io.PrintStream ps) throws java.lang.Exception
java.lang.Exception
public static void main(java.lang.String[] args) throws java.lang.Exception
java.lang.Exception
public static void findStillTimes(java.lang.String[] args)
public static PM_LINE fitLine(java.util.List<? extends PmCartesian> l)
l
- list of PmCartesian points to fit
public static PM_CARTESIAN weightedAvg(PM_CARTESIAN c1, double s1, PM_CARTESIAN c2, double s2)
c1
- first PM_CARTESIAN to adds1
- weighting scale factor for c1c2
- second PM_CARTESIAN to adds2
- weighting scale factor for c2
public static PM_POSE weightedAvg(PM_POSE p1, double s1, PM_POSE p2, double s2) throws PmException
c1
- first PM_POSE to adds1
- weighting scale factor for c1c2
- second PM_POSE to adds2
- weighting scale factor for c2
PmException
public static double[] computeLineFitErrors(PM_LINE line, java.util.List<? extends PmCartesian> l)
line
- line points should be nearl
- list of points near line
public static PM_CIRCLE fitCircle2D_XY(java.util.List<? extends PmCartesian> l)
l
- list of PmCartesian points to fit
public static boolean IS_FUZZ(double a, double fuzz) throws PmException
PmException
public static double pmSqrt(double x) throws PmException
x
- number to take square root of
PmException
public static double pmSq(double x)
x
- number to square
public static boolean pmClose(double a, double b, double eps)
a
- b
- eps
-
public static int pmCartCylConvert(PmCartesian v, PmCylindrical c)
public static PM_SPHERICAL toSph(PM_CARTESIAN v)
v
- cartesian to convert
public static int pmCartSphConvert(PmCartesian v, PmSpherical s)
v
- cartesian to converts
- spherical to store converted results in
public static PM_CARTESIAN toCart(PM_SPHERICAL v)
v
- cartesian to convert
public static int pmSphCartConvert(PmSpherical s, PmCartesian v)
s
- spherical to convertv
- cartesian to store converted result
public static PM_CYLINDRICAL toCyl(PM_SPHERICAL s)
s
- spherical to convert
public static int pmSphCylConvert(PmSpherical s, PmCylindrical c)
s
- spherical to convertc
- cylindrical to store converted value
public static PM_CARTESIAN toCart(PM_CYLINDRICAL v)
v
- cylindrical to convert
public static int pmCylCartConvert(PmCylindrical c, PmCartesian v)
c
- cylindrical to convertv
- cartesian to store result
public static PM_SPHERICAL toSph(PM_CYLINDRICAL c)
c
- cylindrical to convert
public static int pmCylSphConvert(PmCylindrical c, PmSpherical s)
c
- cylindrical to converts
- spherical to store result
public static int pmAxisAngleQuatConvert(int axis, double a, PmQuaternion q) throws PmException
axis
- either PM_X,PM_Y, or PM_Za
- angle in radians for rotationq
- quaternion to store result
PmException
public static PM_QUATERNION toQuat(PM_ROTATION_VECTOR v) throws PmException
v
- rotation vector to convert
PmException
public static int pmRotQuatConvert(PmRotationVector r, PmQuaternion q) throws PmException
r
- rotation vector to convertq
- quaternion to store result
PmException
public static PM_ROTATION_MATRIX toMat(PM_ROTATION_VECTOR v) throws PmException
v
- rotation vector to convert (must be normalized)
PmException
public static int pmRotMatConvert(PmRotationVector r, PmRotationMatrix m) throws PmException
r
- rotation vector to convertm
- rotation matrix to store result
PmException
public static int pmRotRpyConvert(PmRotationVector r, PmRpy rpy) throws PmException
PmException
public static PM_ROTATION_VECTOR toRot(PM_QUATERNION v) throws PmException
v
- quaternion to convert (must be normalized)
PmException
public static int pmQuatRotConvert(PmQuaternion q, PmRotationVector r) throws PmException
q
- quaternion to convertr
- rotation vector to store result
PmException
public static PM_ROTATION_MATRIX toMat(PM_QUATERNION v) throws PmException
v
- quaternion to convert (must be normalized)
PmException
public static double distFromPath(PM_CARTESIAN p, PM_CARTESIAN[] waypoints)
p
- point we want to know how close it is to a pathwaypoints
- array of waypoints to specify a path.
public static double maxA(double[] da)
public static java.util.List<PM_LINE> splitToLines(java.util.List<? extends PM_CARTESIAN> l, int num_lines, double[] max_error, int[] best_indexes)
public static java.util.List<PM_LINE> fitLines(java.util.List<? extends PM_CARTESIAN> l, double tolerance, int max_lines)
public static java.util.ArrayList<PM_CARTESIAN> multiply(PM_XYA xya, java.util.List<? extends PM_CARTESIAN> l)
public static PM_CARTESIAN[] multiply(PM_XYA xya, PM_CARTESIAN[] l)
public static PM_CARTESIAN[] multiply(PM_POSE pose, PM_CARTESIAN[] l) throws PmException
PmException
public static PmCartesian pmCartCentroid(java.util.List<? extends PmCartesian> l)
public static PmCartesian pmCartCentroid(PmCartesian[] l)
public static PM_CARTESIAN centroid(PM_CARTESIAN[] l)
public static PM_CARTESIAN centroid(java.util.List<? extends PM_CARTESIAN> l)
public static int pmQuatMatConvert(PmQuaternion q, PmRotationMatrix m) throws PmException
PmException
public static int pmQuatZyzConvert(PmQuaternion q, PmEulerZyz zyz) throws PmException
PmException
public static int pmQuatZyxConvert(PmQuaternion q, PmEulerZyx zyx) throws PmException
PmException
public static PM_RPY toRpy(PM_QUATERNION v) throws PmException
PmException
public static int pmQuatRpyConvert(PmQuaternion q, PmRpy rpy) throws PmException
PmException
public static int pmMatRotConvert(PmRotationMatrix m, PmRotationVector r) throws PmException
PmException
public static PM_QUATERNION toQuat(PM_ROTATION_MATRIX m) throws PmException
PmException
public static int pmMatQuatConvert(PmRotationMatrix m, PmQuaternion q) throws PmException
PmException
public static int pmMatZyzConvert(PmRotationMatrix m, PmEulerZyz zyz) throws PmException
PmException
public static int pmMatZyxConvert(PmRotationMatrix m, PmEulerZyx zyx) throws PmException
PmException
public static int pmMatRpyConvert(PmRotationMatrix m, PmRpy rpy) throws PmException
PmException
public static PM_RPY toRpy(PmRotationMatrix m) throws PmException
PmException
public static int pmZyzRotConvert(PmEulerZyz zyz, PmRotationVector r) throws PmException
PmException
public static PM_QUATERNION toQuat(PM_EULER_ZYZ v) throws PmException
PmException
public static int pmZyzQuatConvert(PmEulerZyz zyz, PmQuaternion q) throws PmException
PmException
public static int pmZyzMatConvert(PmEulerZyz zyz, PmRotationMatrix m) throws PmException
PmException
public static int pmZyzRpyConvert(PmEulerZyz zyz, PmRpy rpy) throws PmException
PmException
public static int pmZyxRotConvert(PmEulerZyx zyx, PmRotationVector r) throws PmException
PmException
public static PM_QUATERNION toQuat(PM_EULER_ZYX v) throws PmException
PmException
public static int pmZyxQuatConvert(PmEulerZyx zyx, PmQuaternion q) throws PmException
PmException
public static int pmZyxMatConvert(PmEulerZyx zyx, PmRotationMatrix m) throws PmException
PmException
public static int pmZyxZyzConvert(PmEulerZyx zyx, PmEulerZyz zyz) throws PmException
PmException
public static int pmZyxRpyConvert(PmEulerZyx zyx, PmRpy rpy) throws PmException
PmException
public static int pmRpyRotConvert(PmRpy rpy, PmRotationVector r) throws PmException
PmException
public static PM_ROTATION_VECTOR toRot(PM_RPY rpy) throws PmException
PmException
public static PM_QUATERNION toQuat(PM_RPY v) throws PmException
PmException
public static int pmRpyQuatConvert(PmRpy rpy, PmQuaternion q) throws PmException
PmException
public static int pmRpyMatConvert(PmRpy rpy, PmRotationMatrix m) throws PmException
PmException
public static int pmRpyZyzConvert(PmRpy rpy, PmEulerZyz zyz) throws PmException
PmException
public static int pmRpyZyxConvert(PmRpy rpy, PmEulerZyx zyx) throws PmException
PmException
public static PM_POSE toPose(PM_HOMOGENEOUS h) throws PmException
PmException
public static PM_HOMOGENEOUS toHom(PM_POSE p) throws PmException
PmException
public static int pmPoseHomConvert(PmPose p, PmHomogeneous h) throws PmException
PmException
public static int pmHomPoseConvert(PmHomogeneous h, PmPose p) throws PmException
PmException
public static boolean pmCartCartCompare(PmCartesian v1, PmCartesian v2) throws PmException
PmException
public static double dot(PmCartesian v1, PmCartesian v2)
public static double dot(PM_CARTESIAN v1, PM_CARTESIAN v2)
public static double pmCartCartDot(PmCartesian v1, PmCartesian v2)
public static PM_CARTESIAN cross(PM_CARTESIAN v1, PM_CARTESIAN v2) throws PmException
PmException
public static int pmCartCartCross(PmCartesian v1, PmCartesian v2, PmCartesian vout) throws PmException
PmException
public static double mag(PM_CARTESIAN v)
public static double mag(PmCartesian v)
public static double pmCartMag(PmCartesian v)
public static double disp(PM_CARTESIAN v1, PM_CARTESIAN v2) throws PmException
PmException
public static double pmCartCartDisp(PmCartesian v1, PmCartesian v2) throws PmException
PmException
public static PM_CARTESIAN add(PM_CARTESIAN v1, PM_CARTESIAN v2)
public static PmCartesian add(PmCartesian v1, PmCartesian v2)
public static int pmCartCartAdd(PmCartesian v1, PmCartesian v2, PmCartesian vout)
public static PM_CARTESIAN subtract(PM_CARTESIAN v1, PM_CARTESIAN v2)
public static PmCartesian subtract(PmCartesian v1, PmCartesian v2)
public static int pmCartCartSub(PmCartesian v1, PmCartesian v2, PmCartesian vout)
public static PM_CARTESIAN multiply(double d, PM_CARTESIAN v)
public static PM_CARTESIAN multiply(PM_CARTESIAN v, double d)
public static PmCartesian multiply(double d, PmCartesian v)
public static PmCartesian multiply(PmCartesian v, double d)
public static int pmCartScalMult(PmCartesian v1, double d, PmCartesian vout)
public static PM_CARTESIAN divide(PM_CARTESIAN v, double d) throws PmException
PmException
public static int pmCartScalDiv(PmCartesian v1, double d, PmCartesian vout) throws PmException
PmException
public static PM_CARTESIAN neg(PM_CARTESIAN v) throws PmException
PmException
public static int pmCartNeg(PmCartesian v1, PmCartesian vout) throws PmException
PmException
public static PM_CARTESIAN inv(PM_CARTESIAN v) throws PmException
PmException
public static int pmCartInv(PmCartesian v1, PmCartesian vout) throws PmException
PmException
public static PM_CARTESIAN norm(PM_CARTESIAN v) throws PmException
PmException
public static int pmCartNorm(PmCartesian v, PmCartesian vout) throws PmException
PmException
public static boolean isNorm(PM_CARTESIAN v) throws PmException
PmException
public static boolean pmCartIsNorm(PmCartesian v) throws PmException
PmException
public static PM_CARTESIAN proj(PM_CARTESIAN v1, PM_CARTESIAN v2) throws PmException
PmException
public static int pmCartCartProj(PmCartesian v1, PmCartesian v2, PmCartesian vout) throws PmException
PmException
public static int pmCartPlaneProj(PmCartesian v, PmCartesian normal, PmCartesian vout) throws PmException
PmException
public static int pmCylCylAdd(PmCylindrical c1, PmCylindrical c2, PmCylindrical cout) throws PmException
PmException
public static int pmCylCylSub(PmCylindrical c1, PmCylindrical c2, PmCylindrical cout) throws PmException
PmException
public static PM_CYLINDRICAL multiply(double d, PM_CYLINDRICAL c) throws PmException
PmException
public static PM_CYLINDRICAL multiply(PM_CYLINDRICAL c, double d) throws PmException
PmException
public static int pmCylScalMult(PmCylindrical v1, double d, PmCylindrical vout) throws PmException
PmException
public static PM_CYLINDRICAL divide(PM_CYLINDRICAL c, double d) throws PmException
PmException
public static int pmCylScalDiv(PmCylindrical v1, double d, PmCylindrical vout) throws PmException
PmException
public static boolean pmCylCylCompare(PmCylindrical v1, PmCylindrical v2) throws PmException
PmException
public static double dot(PM_CYLINDRICAL v1, PM_CYLINDRICAL v2) throws PmException
PmException
public static double pmCylCylDot(PmCylindrical c1, PmCylindrical c2) throws PmException
PmException
public static double mag(PM_CYLINDRICAL v1) throws PmException
PmException
public static double pmCylMag(PmCylindrical c) throws PmException
PmException
public static PM_CYLINDRICAL cross(PM_CYLINDRICAL v1, PM_CYLINDRICAL v2) throws PmException
PmException
public static int pmCylCylCross(PmCylindrical c1, PmCylindrical c2, PmCylindrical cout) throws PmException
PmException
public static PM_CYLINDRICAL neg(PM_CYLINDRICAL v) throws PmException
PmException
public static int pmCylNeg(PmCylindrical v1, PmCylindrical vout) throws PmException
PmException
public static PM_CYLINDRICAL norm(PM_CYLINDRICAL v) throws PmException
PmException
public static int pmCylNorm(PmCylindrical v, PmCylindrical vout) throws PmException
PmException
public static PM_CYLINDRICAL inv(PM_CYLINDRICAL v) throws PmException
PmException
public static int pmCylInv(PmCylindrical c, PmCylindrical cout) throws PmException
PmException
public static boolean isNorm(PM_CYLINDRICAL v) throws PmException
PmException
public static boolean pmCylIsNorm(PmCylindrical v) throws PmException
PmException
public static PmQuaternion pmQuatAxisAngleMult(PmQuaternion q, int axis, double angle) throws PmException
PmException
public static int pmQuatAxisAngleMult(PmQuaternion q, int axis, double angle, PmQuaternion pq) throws PmException
PmException
public static PM_ROTATION_VECTOR multiply(PM_ROTATION_VECTOR r, double s) throws PmException
PmException
public static PmRotationVector multiply(double s, PM_ROTATION_VECTOR r) throws PmException
PmException
public static int pmRotScalMult(PmRotationVector r, double s, PmRotationVector rout) throws PmException
PmException
public static PM_ROTATION_VECTOR divide(PM_ROTATION_VECTOR r, double s) throws PmException
PmException
public static int pmRotScalDiv(PmRotationVector r, double s, PmRotationVector rout) throws PmException
PmException
public static boolean isNorm(PM_ROTATION_VECTOR r) throws PmException
PmException
public static boolean pmRotIsNorm(PmRotationVector r) throws PmException
PmException
public static PM_ROTATION_VECTOR norm(PM_ROTATION_VECTOR r) throws PmException
PmException
public static int pmRotNorm(PmRotationVector r, PmRotationVector rout) throws PmException
PmException
public static int pmMatNorm(PmRotationMatrix m, PmRotationMatrix mout) throws PmException
PmException
public static boolean isNorm(PM_ROTATION_MATRIX m) throws PmException
PmException
public static boolean pmMatIsNorm(PmRotationMatrix m) throws PmException
PmException
public static int pmMatInv(PmRotationMatrix m, PmRotationMatrix mout) throws PmException
PmException
public static PM_CARTESIAN multiply(PM_ROTATION_MATRIX m, PM_CARTESIAN v) throws PmException
PmException
public static int pmMatCartMult(PmRotationMatrix m, PmCartesian v, PmCartesian vout) throws PmException
PmException
public static PM_ROTATION_MATRIX multiply(PM_ROTATION_MATRIX m1, PM_ROTATION_MATRIX m2) throws PmException
PmException
public static int pmMatMatMult(PmRotationMatrix m1, PmRotationMatrix m2, PmRotationMatrix mout) throws PmException
PmException
public static boolean pmQuatQuatCompare(PmQuaternion q1, PmQuaternion q2) throws PmException
PmException
public static double mag(PM_QUATERNION q) throws PmException
PmException
public static double pmQuatMag(PmQuaternion q) throws PmException
PmException
public static PM_QUATERNION norm(PM_QUATERNION q1) throws PmException
PmException
public static int pmQuatNorm(PmQuaternion q1, PmQuaternion qout) throws PmException
PmException
public static PM_QUATERNION inv(PM_QUATERNION q1) throws PmException
PmException
public static int pmQuatInv(PmQuaternion q1, PmQuaternion qout) throws PmException
PmException
public static boolean isNorm(PM_QUATERNION q1) throws PmException
PmException
public static boolean pmQuatIsNorm(PmQuaternion q1) throws PmException
PmException
public static PM_QUATERNION multiply(PM_QUATERNION q, double s) throws PmException
PmException
public static PM_QUATERNION multiply(double s, PM_QUATERNION q) throws PmException
PmException
public static int pmQuatScalMult(PmQuaternion q, double s, PmQuaternion qout) throws PmException
PmException
public static PM_QUATERNION divide(PM_QUATERNION q, double s) throws PmException
PmException
public static int pmQuatScalDiv(PmQuaternion q, double s, PmQuaternion qout) throws PmException
PmException
public static PM_QUATERNION multiply(PM_QUATERNION q1, PM_QUATERNION q2) throws PmException
PmException
public static int pmQuatQuatMult(PmQuaternion q1, PmQuaternion q2, PmQuaternion qout) throws PmException
PmException
public static PM_CARTESIAN multiply(PmQuaternion q1, PM_CARTESIAN v2) throws PmException
PmException
public static int pmQuatCartMult(PmQuaternion q1, PmCartesian v2, PmCartesian vout) throws PmException
PmException
public static boolean pmPosePoseCompare(PmPose p1, PmPose p2) throws PmException
PmException
public static PM_POSE inv(PM_POSE p) throws PmException
PmException
public static PM_XYA inv(PM_XYA p) throws PmException
PmException
public static PM_XYA multiply(PM_XYA p1, PM_XYA p2)
public static PM_CARTESIAN multiply(PM_XYA p1, PM_CARTESIAN p2)
public static int pmPoseInv(PmPose p1, PmPose p2) throws PmException
PmException
public static PM_CARTESIAN multiply(PM_POSE p1, PM_CARTESIAN v2) throws PmException
PmException
public static int pmPoseCartMult(PmPose p1, PmCartesian v2, PmCartesian vout) throws PmException
PmException
public static PM_POSE multiply(PM_POSE p1, PM_POSE p2) throws PmException
PmException
public static int pmPosePoseMult(PmPose p1, PmPose p2, PmPose pout) throws PmException
PmException
public static PM_HOMOGENEOUS inv(PM_HOMOGENEOUS h) throws PmException
PmException
public static int pmHomInv(PmHomogeneous h1, PmHomogeneous h2) throws PmException
PmException
public static int pmLineInit(PmLine line, PmPose start, PmPose end) throws PmException
PmException
public static int pmLinePoint(PmLine line, double len, PmPose point) throws PmException
PmException
public static int pmCircleInit(PmCircle circle, PmPose start, PmPose end, PmCartesian center, PmCartesian normal, int turn) throws PmException
PmException
public static java.util.List<PM_POSE> findStillPoints(java.util.List<java.lang.Double> tlist, java.util.List<PM_POSE> posList, double velThresh, int avg_thresh, java.util.List<java.lang.Double> stillTimes) throws PmException
PmException
public static java.util.List<PM_POSE> prePostMultiplyList(java.util.List<? extends PM_POSE> l, PM_POSE pre, PM_POSE post)
public static double[][] poseListToHomMats(java.util.List<? extends PM_POSE> l)
public static java.util.List<PM_POSE> poseListChk(PM_POSE X, java.util.List<? extends PM_POSE> A, PM_POSE Y, java.util.List<? extends PM_POSE> B) throws PmException
PmException
public static java.util.List<PM_POSE> poseListRandom(int size, double angle_noise, double cart_noise) throws PmException
PmException
public static PM_POSE toPose(double[][] dd) throws PmException
PmException
public static java.util.List<PM_POSE> homMatsPrePostMult(double[][] X, double[][] A, double[][] Y) throws PmException
PmException
public static java.util.List<PM_POSE> homMatsChk(double[][] X, double[][] A, double[][] Y, double[][] B) throws PmException
PmException
public static java.util.List<PM_CARTESIAN> poseListToCartList(java.util.List<? extends PM_POSE> plin)
public static java.util.List<PM_RPY> poseListToRpyList(java.util.List<? extends PM_POSE> plin)
public static double[] cartListToMagArray(java.util.List<? extends PM_CARTESIAN> clin)
public static double[] rpyListToMagArray(java.util.List<? extends PM_RPY> rlin)
public static double mean(java.util.List<java.lang.Double> l)
public static double mean(java.lang.Double[] da)
public static double mean(double[] da)
public static double stddev(double[] da)
public static double stddev(java.lang.Double[] da)
public static double stddev(java.util.List<java.lang.Double> da)
public static java.util.List<PM_POSE> poseListPoseListMultiply(java.util.List<? extends PM_POSE> pl1, java.util.List<? extends PM_POSE> pl2)
public static java.util.List<PM_POSE> poseListInv(java.util.List<? extends PM_POSE> plin)
public static java.util.List<PM_POSE> homMatsToPoseList(double[][] dd)
public static java.util.List<PM_POSE> csvToPoseListF(java.io.File f, int x_pos, int y_pos, int z_pos, int roll_pos, int pitch_pos, int yaw_pos) throws java.lang.Exception
java.lang.Exception
public static java.util.List<PM_POSE> csvToPoseList(java.lang.String filename, int x_pos, int y_pos, int z_pos, int roll_pos, int pitch_pos, int yaw_pos) throws java.lang.Exception
java.lang.Exception
public static java.util.List<PM_POSE> csvWithTimeToPoseListF(java.io.File f, java.util.List<java.lang.Double> timeList, int time_pos, int x_pos, int y_pos, int z_pos, int roll_pos, int pitch_pos, int yaw_pos) throws java.lang.Exception
java.lang.Exception
public static java.util.List<PM_POSE> csvWithTimeToPoseList(java.lang.String filename, java.util.List<java.lang.Double> timeList, int time_pos, int x_pos, int y_pos, int z_pos, int roll_pos, int pitch_pos, int yaw_pos) throws java.lang.Exception
java.lang.Exception
public static java.util.List<java.lang.Double> csvToListF(java.io.File f, int pos) throws java.lang.Exception
java.lang.Exception
public static java.util.List<java.lang.Double> csvToList(java.lang.String filename, int pos) throws java.lang.Exception
java.lang.Exception
public static PM_POSE getCk1Pose()
public static PM_POSE getCk2Pose()
public static double[][] csvToHomMatsChk(java.lang.String filename, int x_pos, int y_pos, int z_pos, int roll_pos, int pitch_pos, int yaw_pos)
public static double[][] csvToHomMats(java.lang.String filename, int x_pos, int y_pos, int z_pos, int roll_pos, int pitch_pos, int yaw_pos)
public static int pmCirclePoint(PmCircle circle, double angle, PmPose point) throws PmException
PmException
public static PmCartesian point_on_line(PM_LINE line, PmCartesian p)
public static PM_CARTESIAN point_on_line(PM_LINE line, PM_CARTESIAN p)
public static PM_CARTESIAN point_on_line(PM_CARTESIAN s, PM_CARTESIAN u, PM_CARTESIAN p)
public static double dist_from_line(PM_LINE line, PM_CARTESIAN c)
public static PM_CARTESIAN point_on_line_segment(PM_CARTESIAN s, PM_CARTESIAN e, PM_CARTESIAN p)
public static double[][] tstArray()
public static PM_CARTESIAN intersection(PM_LINE l1, PM_LINE l2) throws PmException
PmException
public static boolean in_line_segment(PM_LINE l, PM_CARTESIAN c1, double tol) throws java.lang.Exception
java.lang.Exception
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