RobotMath.hpp File Reference

#include <scl/DataTypes.hpp>
#include <Eigen/Dense>
#include <math.h>

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Namespaces
	scl

Functions
sBool	scl::sclTransform (Eigen::Affine3d &arg_T, const Eigen::Vector3d &arg_offset, const Eigen::Quaterniond &arg_ori_in_parent, const sFloat arg_q, const EJointType arg_jtype)
void	scl::dh2TransformationMatrix (Eigen::Matrix4d &arg_mat, const sFloat &alpha, const sFloat &a, const sFloat &d, const sFloat &theta)
sBool	scl::quat2axisangle (const Eigen::Quaternion< sFloat > &arg_q, Eigen::Vector4d &arg_aa)