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drakeGeometryUtil.h File Reference

THIS FILE IS DEPRECATED. More...

#include <Eigen/Dense>
#include <cstring>
#include <cmath>
#include <random>
#include "drake/common/constants.h"
#include "drake/common/drake_assert.h"
#include "drake/common/drake_deprecated.h"
#include "drake/common/eigen_types.h"
#include "drake/drakeGeometryUtil_export.h"
#include "drake/math/gradient.h"
#include "drake/math/quaternion.h"
#include "drake/util/drakeGradientUtil.h"
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Classes

struct  TransformSpatial< Derived >
 
struct  DHomogTrans< DerivedQdotToV >
 

Functions

DRAKEGEOMETRYUTIL_EXPORT double angleDiff (double phi1, double phi2)
 
DRAKEGEOMETRYUTIL_EXPORT Eigen::Vector4d uniformlyRandomAxisAngle (std::default_random_engine &generator)
 
DRAKEGEOMETRYUTIL_EXPORT Eigen::Vector4d uniformlyRandomQuat (std::default_random_engine &generator)
 
DRAKEGEOMETRYUTIL_EXPORT Eigen::Matrix3d uniformlyRandomRotmat (std::default_random_engine &generator)
 
DRAKEGEOMETRYUTIL_EXPORT Eigen::Vector3d uniformlyRandomRPY (std::default_random_engine &generator)
 
template<typename Derived >
void normalizeVec (const Eigen::MatrixBase< Derived > &x, typename Derived::PlainObject &x_norm, typename drake::math::Gradient< Derived, Derived::RowsAtCompileTime, 1 >::type *dx_norm=nullptr, typename drake::math::Gradient< Derived, Derived::RowsAtCompileTime, 2 >::type *ddx_norm=nullptr)
 
DRAKEGEOMETRYUTIL_EXPORT int rotationRepresentationSize (int rotation_type)
 
template<typename Derived >
drake::math::Gradient< Eigen::Matrix< typename Derived::Scalar, 3, 3 >, drake::kQuaternionSize >::type dquat2rotmat (const Eigen::MatrixBase< Derived > &q)
 
template<typename DerivedR , typename DerivedDR >
drake::math::Gradient< Eigen::Matrix< typename DerivedR::Scalar, drake::kRpySize, 1 >, DerivedDR::ColsAtCompileTime >::type drotmat2rpy (const Eigen::MatrixBase< DerivedR > &R, const Eigen::MatrixBase< DerivedDR > &dR)
 
template<typename DerivedR , typename DerivedDR >
drake::math::Gradient< Eigen::Matrix< typename DerivedR::Scalar, drake::kQuaternionSize, 1 >, DerivedDR::ColsAtCompileTime >::type drotmat2quat (const Eigen::MatrixBase< DerivedR > &R, const Eigen::MatrixBase< DerivedDR > &dR)
 
template<typename Derived >
Eigen::Matrix< typename Derived::Scalar, 3, 3 > vectorToSkewSymmetric (const Eigen::MatrixBase< Derived > &p)
 
template<typename DerivedA , typename DerivedB >
Eigen::Matrix< typename DerivedA::Scalar, 3, Eigen::Dynamic > dcrossProduct (const Eigen::MatrixBase< DerivedA > &a, const Eigen::MatrixBase< DerivedB > &b, const typename drake::math::Gradient< DerivedA, Eigen::Dynamic >::type &da, const typename drake::math::Gradient< DerivedB, Eigen::Dynamic >::type &db)
 
template<typename DerivedQ , typename DerivedM , typename DerivedDM >
void angularvel2quatdotMatrix (const Eigen::MatrixBase< DerivedQ > &q, Eigen::MatrixBase< DerivedM > &M, Eigen::MatrixBase< DerivedDM > *dM=nullptr)
 
template<typename DerivedRPY , typename DerivedPhi , typename DerivedDPhi , typename DerivedDDPhi >
void angularvel2rpydotMatrix (const Eigen::MatrixBase< DerivedRPY > &rpy, typename Eigen::MatrixBase< DerivedPhi > &phi, typename Eigen::MatrixBase< DerivedDPhi > *dphi=nullptr, typename Eigen::MatrixBase< DerivedDDPhi > *ddphi=nullptr)
 
template<typename DerivedRPY , typename DerivedE >
void rpydot2angularvelMatrix (const Eigen::MatrixBase< DerivedRPY > &rpy, Eigen::MatrixBase< DerivedE > &E, typename drake::math::Gradient< DerivedE, drake::kRpySize, 1 >::type *dE=nullptr)
 
template<typename Derived >
Eigen::Matrix< typename Derived::Scalar, 3, 4 > quatdot2angularvelMatrix (const Eigen::MatrixBase< Derived > &q)
 
template<typename DerivedRPY , typename DerivedRPYdot , typename DerivedOMEGA >
void rpydot2angularvel (const Eigen::MatrixBase< DerivedRPY > &rpy, const Eigen::MatrixBase< DerivedRPYdot > &rpydot, Eigen::MatrixBase< DerivedOMEGA > &omega, typename drake::math::Gradient< DerivedOMEGA, drake::kRpySize, 1 >::type *domega=nullptr)
 
template<typename DerivedM >
TransformSpatial< DerivedM >::type transformSpatialMotion (const Eigen::Transform< typename DerivedM::Scalar, 3, Eigen::Isometry > &T, const Eigen::MatrixBase< DerivedM > &M)
 
template<typename Scalar , typename DerivedX , typename DerivedDT , typename DerivedDX >
drake::math::Gradient< DerivedX, DerivedDX::ColsAtCompileTime, 1 >::type dTransformSpatialMotion (const Eigen::Transform< Scalar, 3, Eigen::Isometry > &T, const Eigen::MatrixBase< DerivedX > &X, const Eigen::MatrixBase< DerivedDT > &dT, const Eigen::MatrixBase< DerivedDX > &dX)
 
template<typename DerivedF >
TransformSpatial< DerivedF >::type transformSpatialForce (const Eigen::Transform< typename DerivedF::Scalar, 3, Eigen::Isometry > &T, const Eigen::MatrixBase< DerivedF > &F)
 
template<typename Scalar , typename DerivedX , typename DerivedDT , typename DerivedDX >
drake::math::Gradient< DerivedX, DerivedDX::ColsAtCompileTime >::type dTransformSpatialForce (const Eigen::Transform< Scalar, 3, Eigen::Isometry > &T, const Eigen::MatrixBase< DerivedX > &X, const Eigen::MatrixBase< DerivedDT > &dT, const Eigen::MatrixBase< DerivedDX > &dX)
 
template<typename DerivedI >
bool isRegularInertiaMatrix (const Eigen::MatrixBase< DerivedI > &I)
 
template<typename DerivedI >
drake::SquareTwistMatrix< typename DerivedI::Scalar > transformSpatialInertia (const Eigen::Transform< typename DerivedI::Scalar, drake::kSpaceDimension, Eigen::Isometry > &T_current_to_new, const Eigen::MatrixBase< DerivedI > &I)
 
template<typename DerivedA , typename DerivedB >
TransformSpatial< DerivedB >::type crossSpatialMotion (const Eigen::MatrixBase< DerivedA > &a, const Eigen::MatrixBase< DerivedB > &b)
 
template<typename DerivedA , typename DerivedB >
TransformSpatial< DerivedB >::type crossSpatialForce (const Eigen::MatrixBase< DerivedA > &a, const Eigen::MatrixBase< DerivedB > &b)
 
template<typename DerivedA , typename DerivedB >
drake::TwistMatrix< typename DerivedA::Scalar > dCrossSpatialMotion (const Eigen::MatrixBase< DerivedA > &a, const Eigen::MatrixBase< DerivedB > &b, const typename drake::math::Gradient< DerivedA, Eigen::Dynamic >::type &da, const typename drake::math::Gradient< DerivedB, Eigen::Dynamic >::type &db)
 
template<typename DerivedA , typename DerivedB >
drake::TwistMatrix< typename DerivedA::Scalar > dCrossSpatialForce (const Eigen::MatrixBase< DerivedA > &a, const Eigen::MatrixBase< DerivedB > &b, const typename drake::math::Gradient< DerivedA, Eigen::Dynamic >::type &da, const typename drake::math::Gradient< DerivedB, Eigen::Dynamic >::type &db)
 
template<typename DerivedS , typename DerivedQdotToV >
DHomogTrans< DerivedQdotToV >::type dHomogTrans (const Eigen::Transform< typename DerivedQdotToV::Scalar, 3, Eigen::Isometry > &T, const Eigen::MatrixBase< DerivedS > &S, const Eigen::MatrixBase< DerivedQdotToV > &qdot_to_v)
 
template<typename DerivedDT >
DHomogTrans< DerivedDT >::type dHomogTransInv (const Eigen::Transform< typename DerivedDT::Scalar, 3, Eigen::Isometry > &T, const Eigen::MatrixBase< DerivedDT > &dT)
 
template<typename Derived >
Eigen::Matrix< typename Derived::Scalar, 3, 1 > flipExpmap (const Eigen::MatrixBase< Derived > &expmap)
 
template<typename Derived1 , typename Derived2 >
Eigen::Matrix< typename Derived1::Scalar, 3, 1 > unwrapExpmap (const Eigen::MatrixBase< Derived1 > &expmap1, const Eigen::MatrixBase< Derived2 > &expmap2)
 

Variables

const int HOMOGENEOUS_TRANSFORM_SIZE = 16
 
const int QUAT_SIZE = 4
 
const int RPY_SIZE = 3
 
const int SPACE_DIMENSION = 3
 
const int RotmatSize = drake::kSpaceDimension * drake::kSpaceDimension
 

Detailed Description

THIS FILE IS DEPRECATED.

Its contents are moving into drake/math.

Function Documentation

DRAKEGEOMETRYUTIL_EXPORT double angleDiff ( double  phi1,
double  phi2 
)
void angularvel2quatdotMatrix ( const Eigen::MatrixBase< DerivedQ > &  q,
Eigen::MatrixBase< DerivedM > &  M,
Eigen::MatrixBase< DerivedDM > *  dM = nullptr 
)

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void angularvel2rpydotMatrix ( const Eigen::MatrixBase< DerivedRPY > &  rpy,
typename Eigen::MatrixBase< DerivedPhi > &  phi,
typename Eigen::MatrixBase< DerivedDPhi > *  dphi = nullptr,
typename Eigen::MatrixBase< DerivedDDPhi > *  ddphi = nullptr 
)

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TransformSpatial<DerivedB>::type crossSpatialForce ( const Eigen::MatrixBase< DerivedA > &  a,
const Eigen::MatrixBase< DerivedB > &  b 
)

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TransformSpatial<DerivedB>::type crossSpatialMotion ( const Eigen::MatrixBase< DerivedA > &  a,
const Eigen::MatrixBase< DerivedB > &  b 
)

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Eigen::Matrix<typename DerivedA::Scalar, 3, Eigen::Dynamic> dcrossProduct ( const Eigen::MatrixBase< DerivedA > &  a,
const Eigen::MatrixBase< DerivedB > &  b,
const typename drake::math::Gradient< DerivedA, Eigen::Dynamic >::type &  da,
const typename drake::math::Gradient< DerivedB, Eigen::Dynamic >::type &  db 
)
drake::TwistMatrix<typename DerivedA::Scalar> dCrossSpatialForce ( const Eigen::MatrixBase< DerivedA > &  a,
const Eigen::MatrixBase< DerivedB > &  b,
const typename drake::math::Gradient< DerivedA, Eigen::Dynamic >::type &  da,
const typename drake::math::Gradient< DerivedB, Eigen::Dynamic >::type &  db 
)
drake::TwistMatrix<typename DerivedA::Scalar> dCrossSpatialMotion ( const Eigen::MatrixBase< DerivedA > &  a,
const Eigen::MatrixBase< DerivedB > &  b,
const typename drake::math::Gradient< DerivedA, Eigen::Dynamic >::type &  da,
const typename drake::math::Gradient< DerivedB, Eigen::Dynamic >::type &  db 
)
DHomogTrans<DerivedQdotToV>::type dHomogTrans ( const Eigen::Transform< typename DerivedQdotToV::Scalar, 3, Eigen::Isometry > &  T,
const Eigen::MatrixBase< DerivedS > &  S,
const Eigen::MatrixBase< DerivedQdotToV > &  qdot_to_v 
)

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DHomogTrans<DerivedDT>::type dHomogTransInv ( const Eigen::Transform< typename DerivedDT::Scalar, 3, Eigen::Isometry > &  T,
const Eigen::MatrixBase< DerivedDT > &  dT 
)

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drake::math::Gradient<Eigen::Matrix<typename Derived::Scalar, 3, 3>, drake::kQuaternionSize>::type dquat2rotmat ( const Eigen::MatrixBase< Derived > &  q)

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drake::math::Gradient< Eigen::Matrix<typename DerivedR::Scalar, drake::kQuaternionSize, 1>, DerivedDR::ColsAtCompileTime>::type drotmat2quat ( const Eigen::MatrixBase< DerivedR > &  R,
const Eigen::MatrixBase< DerivedDR > &  dR 
)

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drake::math::Gradient< Eigen::Matrix<typename DerivedR::Scalar, drake::kRpySize, 1>, DerivedDR::ColsAtCompileTime>::type drotmat2rpy ( const Eigen::MatrixBase< DerivedR > &  R,
const Eigen::MatrixBase< DerivedDR > &  dR 
)

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drake::math::Gradient<DerivedX, DerivedDX::ColsAtCompileTime>::type dTransformSpatialForce ( const Eigen::Transform< Scalar, 3, Eigen::Isometry > &  T,
const Eigen::MatrixBase< DerivedX > &  X,
const Eigen::MatrixBase< DerivedDT > &  dT,
const Eigen::MatrixBase< DerivedDX > &  dX 
)

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drake::math::Gradient<DerivedX, DerivedDX::ColsAtCompileTime, 1>::type dTransformSpatialMotion ( const Eigen::Transform< Scalar, 3, Eigen::Isometry > &  T,
const Eigen::MatrixBase< DerivedX > &  X,
const Eigen::MatrixBase< DerivedDT > &  dT,
const Eigen::MatrixBase< DerivedDX > &  dX 
)

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Eigen::Matrix<typename Derived::Scalar, 3, 1> flipExpmap ( const Eigen::MatrixBase< Derived > &  expmap)

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bool isRegularInertiaMatrix ( const Eigen::MatrixBase< DerivedI > &  I)

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void normalizeVec ( const Eigen::MatrixBase< Derived > &  x,
typename Derived::PlainObject &  x_norm,
typename drake::math::Gradient< Derived, Derived::RowsAtCompileTime, 1 >::type *  dx_norm = nullptr,
typename drake::math::Gradient< Derived, Derived::RowsAtCompileTime, 2 >::type *  ddx_norm = nullptr 
)

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Eigen::Matrix<typename Derived::Scalar, 3, 4> quatdot2angularvelMatrix ( const Eigen::MatrixBase< Derived > &  q)

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DRAKEGEOMETRYUTIL_EXPORT int rotationRepresentationSize ( int  rotation_type)

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void rpydot2angularvel ( const Eigen::MatrixBase< DerivedRPY > &  rpy,
const Eigen::MatrixBase< DerivedRPYdot > &  rpydot,
Eigen::MatrixBase< DerivedOMEGA > &  omega,
typename drake::math::Gradient< DerivedOMEGA, drake::kRpySize, 1 >::type *  domega = nullptr 
)

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void rpydot2angularvelMatrix ( const Eigen::MatrixBase< DerivedRPY > &  rpy,
Eigen::MatrixBase< DerivedE > &  E,
typename drake::math::Gradient< DerivedE, drake::kRpySize, 1 >::type *  dE = nullptr 
)

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TransformSpatial<DerivedF>::type transformSpatialForce ( const Eigen::Transform< typename DerivedF::Scalar, 3, Eigen::Isometry > &  T,
const Eigen::MatrixBase< DerivedF > &  F 
)

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drake::SquareTwistMatrix<typename DerivedI::Scalar> transformSpatialInertia ( const Eigen::Transform< typename DerivedI::Scalar, drake::kSpaceDimension, Eigen::Isometry > &  T_current_to_new,
const Eigen::MatrixBase< DerivedI > &  I 
)

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TransformSpatial<DerivedM>::type transformSpatialMotion ( const Eigen::Transform< typename DerivedM::Scalar, 3, Eigen::Isometry > &  T,
const Eigen::MatrixBase< DerivedM > &  M 
)

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DRAKEGEOMETRYUTIL_EXPORT Eigen::Vector4d uniformlyRandomAxisAngle ( std::default_random_engine &  generator)

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DRAKEGEOMETRYUTIL_EXPORT Eigen::Vector4d uniformlyRandomQuat ( std::default_random_engine &  generator)

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DRAKEGEOMETRYUTIL_EXPORT Eigen::Matrix3d uniformlyRandomRotmat ( std::default_random_engine &  generator)

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DRAKEGEOMETRYUTIL_EXPORT Eigen::Vector3d uniformlyRandomRPY ( std::default_random_engine &  generator)

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Eigen::Matrix<typename Derived1::Scalar, 3, 1> unwrapExpmap ( const Eigen::MatrixBase< Derived1 > &  expmap1,
const Eigen::MatrixBase< Derived2 > &  expmap2 
)

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Eigen::Matrix<typename Derived::Scalar, 3, 3> vectorToSkewSymmetric ( const Eigen::MatrixBase< Derived > &  p)

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Variable Documentation

const int HOMOGENEOUS_TRANSFORM_SIZE = 16
const int QUAT_SIZE = 4
const int RotmatSize = drake::kSpaceDimension * drake::kSpaceDimension
const int RPY_SIZE = 3
const int SPACE_DIMENSION = 3