cylindrical.h File Reference

#include <cmath>
#include <Eigen/Dense>
#include "drake/common/eigen_types.h"
#include "drake/drakeMath_export.h"
#include "drake/math/roll_pitch_yaw.h"
#include "drake/math/rotation_matrix.h"

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Namespaces
	drake
	drake::math
	drake::math::internal

Functions
Matrix3d	rotz (double theta)
	Returns a 3D rotation matrix by theta about the z axis. More...
DRAKEMATH_EXPORT void	rotz (double theta, Eigen::Matrix3d *M, Eigen::Matrix3d *dM, Eigen::Matrix3d *ddM)
	Computes a 3D rotation matrix by theta about the z axis. More...
template<typename Scalar >
void	cylindrical2cartesian (const Vector3< Scalar > &m_cylinder_axis, const Vector3< Scalar > &m_cylinder_x_dir, const Vector3< Scalar > &cylinder_origin, const Vector6< Scalar > &x_cylinder, const Vector6< Scalar > &v_cylinder, Vector6< Scalar > &x_cartesian, Vector6< Scalar > &v_cartesian, Matrix6< Scalar > &J, Vector6< Scalar > &Jdotv)
template<typename Scalar >
void	cartesian2cylindrical (const Vector3< Scalar > &m_cylinder_axis, const Vector3< Scalar > &m_cylinder_x_dir, const Vector3< Scalar > &cylinder_origin, const Vector6< Scalar > &x_cartesian, const Vector6< Scalar > &v_cartesian, Vector6< Scalar > &x_cylinder, Vector6< Scalar > &v_cylinder, Matrix6< Scalar > &J, Vector6< Scalar > &Jdotv)