Class TwistOps_F64

java.lang.Object
georegression.transform.twist.TwistOps_F64

public class TwistOps_F64 extends Object
Operations related to twists.
  • Constructor Details

    • TwistOps_F64

      public TwistOps_F64()
  • Method Details

    • homogenous

      public static org.ejml.data.DMatrixRMaj homogenous(Se3_F64 transform, @Nullable @Nullable org.ejml.data.DMatrixRMaj H)
      Converts the Se3_F64 object into homogenous notation.
      [ R , T; 0 , 1]
      Parameters:
      transform - transform in regular SE3 format. If null a new matrix will be declared
      H - (Optional) Storage for homogenous 4x4 matrix. If null a new matrix is declared.
      Returns:
      Homogenous matrix
    • homogenous

      public static org.ejml.data.DMatrixRMaj homogenous(TwistCoordinate_F64 twist, @Nullable @Nullable org.ejml.data.DMatrixRMaj H)
      Converts the twist coordinate into homogenous format.
      H = [hat(w), v; 0 , 0]
      Parameters:
      twist - Twist coordinate
      H - (Optional) Storage for homogenous 4x4 matrix. If null a new matrix is declared.
      Returns:
      Homogenous matrix
    • exponential

      public static Se3_F64 exponential(TwistCoordinate_F64 twist, double theta, @Nullable @Nullable Se3_F64 motion)

      Computes the exponential map for a twist:
      exp(hat(xi)*theta) = [ SO , (I-SO)*(w cross v) + w*wTvΘ 0 , 1]
      SO = exp(hat(w)*theta)

      See page 42 in R. Murray, et. al. "A Mathematical Introduction to ROBOTIC MANIPULATION" 1994
      Parameters:
      twist - Twist coordinate
      theta - Magnitude of rotation
      motion - Storage for SE(3). If null a new instance will be returned.
      Returns:
      The transformation.
    • twist

      public static TwistCoordinate_F64 twist(Se3_F64 motion, @Nullable @Nullable TwistCoordinate_F64 twist)
      Converts a rigid body motion into a twist coordinate. The value of theta used to generate the motion is assumed to be one.
      Parameters:
      motion - (Input) The SE(3) transformation
      twist - (Output) Storage for twist.
      Returns:
      magnitude of the motion