Package georegression.transform.twist

Class TwistOps_F64

java.lang.Object

georegression.transform.twist.TwistOps_F64

public class TwistOps_F64
extends Object

Operations related to twists.

Constructor Summary

Constructors

Constructor	Description
TwistOps_F64()

Method Summary

Modifier and Type	Method	Description
static Se3_F64	exponential(TwistCoordinate_F64 twist, double theta, @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)
static org.ejml.data.DMatrixRMaj	homogenous(Se3_F64 transform, @Nullable org.ejml.data.DMatrixRMaj H)	Converts the Se3_F64 object into homogenous notation. [ R , T; 0 , 1]
static org.ejml.data.DMatrixRMaj	homogenous(TwistCoordinate_F64 twist, @Nullable org.ejml.data.DMatrixRMaj H)	Converts the twist coordinate into homogenous format. H = [hat(w), v; 0 , 0]
static TwistCoordinate_F64	twist(Se3_F64 motion, @Nullable TwistCoordinate_F64 twist)	Converts a rigid body motion into a twist coordinate.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

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*w^TvΘ 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