|
| | Math () |
| virtual | ~Math () |
| std::vector< double > | poseAdd (const std::vector< double > &p1, const std::vector< double > &p2) |
| std::vector< double > | poseSub (const std::vector< double > &p1, const std::vector< double > &p2) |
| | 位姿相减
|
| std::vector< double > | interpolatePose (const std::vector< double > &p1, const std::vector< double > &p2, double alpha) |
| | 计算线性插值
|
| std::vector< double > | poseTrans (const std::vector< double > &pose_from, const std::vector< double > &pose_from_to) |
| | 位姿变换
|
| std::vector< double > | poseTransInv (const std::vector< double > &pose_from, const std::vector< double > &pose_to_from) |
| | 姿态逆变换
|
| std::vector< double > | poseInverse (const std::vector< double > &pose) |
| | 获取位姿的逆
|
| double | poseDistance (const std::vector< double > &p1, const std::vector< double > &p2) |
| | 计算两个位姿的位置距离
|
| double | poseAngleDistance (const std::vector< double > &p1, const std::vector< double > &p2) |
| | 计算两个位姿的轴角距离
|
| bool | poseEqual (const std::vector< double > &p1, const std::vector< double > &p2, double eps=5e-5) |
| | 判断两个位姿是否相等
|
| std::vector< double > | transferRefFrame (const std::vector< double > &F_b_a_old, const Vector3d &V_in_a, int type) |
| std::vector< double > | poseRotation (const std::vector< double > &pose, const std::vector< double > &rotv) |
| | 姿态旋转
|
| std::vector< double > | rpyToQuaternion (const std::vector< double > &rpy) |
| | 欧拉角转四元数
|
| std::vector< double > | quaternionToRpy (const std::vector< double > &quat) |
| | 四元数转欧拉角
|
| ResultWithErrno | tcpOffsetIdentify (const std::vector< std::vector< double > > &poses) |
| | 四点法标定TCP偏移
|
| ResultWithErrno | calibrateCoordinate (const std::vector< std::vector< double > > &poses, int type) |
| | 三点法标定坐标系
|
| ResultWithErrno | calculateCircleFourthPoint (const std::vector< double > &p1, const std::vector< double > &p2, const std::vector< double > &p3, int mode) |
| | 根据圆弧的三个点,计算出拟合成的圆的另一半圆弧的中间点位置
|
| std::vector< double > | forceTrans (const std::vector< double > &pose_a_in_b, const std::vector< double > &force_in_a) |
| std::vector< double > | getDeltaPoseBySensorDistance (const std::vector< double > &distances, double position, double radius, double track_scale) |
| std::vector< double > | deltaPoseTrans (const std::vector< double > &pose_a_in_b, const std::vector< double > &ft_in_a) |
| std::vector< double > | deltaPoseAdd (const std::vector< double > &pose_a_in_b, const std::vector< double > &v_in_b) |
| std::vector< double > | changePoseWithXYRef (const std::vector< double > &pose_tar, const std::vector< double > &pose_ref) |
| std::vector< double > | homMatrixToPose (const std::vector< double > &homMatrix) |
| std::vector< double > | poseToHomMatrix (const std::vector< double > &pose) |
1.16.1