Euclidean transformations
[Vision Package]


Classes
struct	Gan_Euclid3D
	3D pose structure. More...
struct	Gan_Euclid3D_TRCov
	Cross-covariance between rotation and translation. More...
struct	Gan_Euclid3r_Cov
	Covariance of 3D pose. More...
Typedefs
typedef Gan_Euclid3D_TRCov	Gan_Euclid3D_TRCov
	Cross-covariance between rotation and translation.
Functions
Gan_Bool	gan_euclid3D_build_quaternion (Gan_Euclid3D *euc, double TX, double TY, double TZ, double q0, double q1, double q2, double q3)
	Fill parameters of Euclidean transformation.
Gan_Bool	gan_euclid3D_build_exponential (Gan_Euclid3D *euc, double TX, double TY, double TZ, double rx, double ry, double rz)
	Fill parameters of Euclidean transformation.
Gan_Bool	gan_euclid3D_build_angle_axis (Gan_Euclid3D *euc, double TX, double TY, double TZ, double angle, double ax, double ay, double az)
	Fill parameters of Euclidean transformation.
Gan_Bool	gan_euclid3D_build_matrix (Gan_Euclid3D *euc, double TX, double TY, double TZ, double Rxx, double Rxy, double Rxz, double Ryx, double Ryy, double Ryz, double Rzx, double Rzy, double Rzz)
	Fill parameters of Euclidean transformation.
void	gan_euclid3D_ident_q (Gan_Euclid3D *euc, Gan_Rot3D_Type rot_type)
	Fills a structure with an identity Euclidean transformation.
Gan_Euclid3D	gan_euclid3D_ident_s (Gan_Rot3D_Type rot_type)
	Return identity Euclidean transformation.
Gan_Bool	gan_euclid3D_scale_q (Gan_Euclid3D euc_src, double scale, Gan_Euclid3D euc_dest)
	Scales Euclidean pose parameters.
Gan_Euclid3D	gan_euclid3D_scale_s (Gan_Euclid3D *euc, double scale)
	Scales Euclidean pose parameters.
Gan_Bool	gan_euclid3D_scale_i (Gan_Euclid3D *euc1, double s)
	Macro: Scale pose parameters in-place.
Gan_Bool	gan_euclid3D_divide_q (Gan_Euclid3D euc1, double s, Gan_Euclid3D euc2)
	Macro: Divide pose parameters by a scalar.
Gan_Bool	gan_euclid3D_divide_i (Gan_Euclid3D *euc1, double s)
	Macro: Divide pose parameters by a scalar in-place.
Gan_Bool	gan_euclid3D_add_q (Gan_Euclid3D euc1, Gan_Euclid3D euc2, Gan_Euclid3D *euc3)
	Macro: Add two sets of pose parameters.
Gan_Bool	gan_euclid3D_sub_q (Gan_Euclid3D euc1, Gan_Euclid3D euc2, Gan_Euclid3D *euc3)
	Macro: Subtract two sets of pose parameters.

Function Documentation

Gan_Bool gan_euclid3D_add_q ( Gan_Euclid3D * euc1,

Gan_Euclid3D * euc2,

Gan_Euclid3D * euc3

)

Macro: Add two sets of pose parameters.
Implemented as macro calls to gan_vec3_add_q() and gan_rot3D_add_q().

Gan_Bool gan_euclid3D_build_angle_axis ( Gan_Euclid3D * euc,

double TX,

double TY,

double TZ,

double angle,

double ax,

double ay,

double az

)

Fill parameters of Euclidean transformation.

Parameters:

euc Pointer to structure to fill

TX X-coordinate of translation

TY Y-coordinate of translation

TZ Z-coordinate of translation

angle Rotation angle

ax Rotation axis x-coordinate

ay Rotation axis y-coordinate

az Rotation axis z-coordinate

Fill the translation & rotation parameters of a Euclidean transformation. The rotation is represented as a rotation angle and axis.

Returns:
GAN_TRUE on success, GAN_FALSE on failure.

See also:
gan_euclid3D_ident_q()

Gan_Bool gan_euclid3D_build_exponential ( Gan_Euclid3D * euc,

double TX,

double TY,

double TZ,

double rx,

double ry,

double rz

)

Fill parameters of Euclidean transformation.

Parameters:

euc Pointer to structure to fill

TX X-coordinate of translation

TY Y-coordinate of translation

TZ Z-coordinate of translation

rx exponential rotation parameter x value

ry exponential rotation parameter y value

rz exponential rotation parameter z value

Fill the translation & rotation parameters of a Euclidean transformation. The rotation is represented as exponential vector parameters $R = e^{[r]_{\times}}$ .

Returns:
GAN_TRUE on success, GAN_FALSE on failure.

See also:
gan_euclid3D_ident_q()

Gan_Bool gan_euclid3D_build_matrix ( Gan_Euclid3D * euc,

double TX,

double TY,

double TZ,

double Rxx,

double Rxy,

double Rxz,

double Ryx,

double Ryy,

double Ryz,

double Rzx,

double Rzy,

double Rzz

)

Fill parameters of Euclidean transformation.

Parameters:

euc Pointer to structure to fill

TX The X-coordinate of translation

TY The Y-coordinate of translation

TZ The Z-coordinate of translation

Rxx Rotation matrix element $R_{xx}$

Rxy Rotation matrix element $R_{xy}$

Rxz Rotation matrix element $R_{xz}$

Ryx Rotation matrix element $R_{yx}$

Ryy Rotation matrix element $R_{yy}$

Ryz Rotation matrix element $R_{yz}$

Rzx Rotation matrix element $R_{zx}$

Rzy Rotation matrix element $R_{zy}$

Rzz Rotation matrix element $R_{zz}$

Fill the translation and rotation parameters of a Euclidean transformation. The rotation is represented as a rotation matrix $ R $ .

Returns:
GAN_TRUE on success, GAN_FALSE on failure.

See also:
gan_euclid3D_ident_q()

Gan_Bool gan_euclid3D_build_quaternion ( Gan_Euclid3D * euc,

double TX,

double TY,

double TZ,

double q0,

double q1,

double q2,

double q3

)

Fill parameters of Euclidean transformation.

Parameters:

euc Pointer to structure to fill

TX X-coordinate of translation

TY Y-coordinate of translation

TZ Z-coordinate of translation

q0 The first quaternion value, representing the rotation angle

q1 The second quaternion value, representing the axis x coordinate

q2 The second quaternion value, representing the axis y coordinate

q3 The second quaternion value, representing the axis z coordinate

Fill the translation and rotation parameters of a Euclidean transformation. The rotation is represented as a quaternion.

Returns:
GAN_TRUE on success, GAN_FALSE on failure.

See also:
gan_euclid3D_ident_q()

Gan_Bool gan_euclid3D_divide_i ( Gan_Euclid3D * euc1,

double s

)

Macro: Divide pose parameters by a scalar in-place.
Implemented as macro calls to gan_vec3_divide_i() and gan_rot3D_divide_i().

Gan_Bool gan_euclid3D_divide_q ( Gan_Euclid3D * euc1,

double s,

Gan_Euclid3D * euc2

)

Macro: Divide pose parameters by a scalar.
Implemented as macro calls to gan_vec3_divide_q() and gan_rot3D_divide_q().

void gan_euclid3D_ident_q ( Gan_Euclid3D * euc,

Gan_Rot3D_Type rot_type

)

Fills a structure with an identity Euclidean transformation.

Parameters:

euc Pointer to a structure to fill

rot_type The represention for the rotation parameters

Fills a structure with an identity Euclidean transformation, i.e. zero translation and rotation.

Returns:
no value.

See also:
gan_euclid3D_ident_s().

Gan_Euclid3D gan_euclid3D_ident_s ( Gan_Rot3D_Type rot_type )

Return identity Euclidean transformation.

Parameters:

rot_type The represention for the rotation parameters

Fills a structure with an identity Euclidean transformation, i.e. zero translation and rotation.

Returns:
the filled structure.

See also:
gan_euclid3D_ident_q().

Gan_Bool gan_euclid3D_scale_i ( Gan_Euclid3D * euc1,

double s

)

Macro: Scale pose parameters in-place.
Implemented as macro calls to gan_vec3_scale_i() and gan_rot3D_scale_i().

Gan_Bool gan_euclid3D_scale_q ( Gan_Euclid3D * euc_src,

double scale,

Gan_Euclid3D * euc_dest

)

Scales Euclidean pose parameters.

Parameters:

euc_src Pointer to a source transformation structure

scale Scale factor by which to multiply parameters

euc_dest Pointer to a destination transformation structure

Scales rotation and translation parameters of Euclidean transformation by given scale factor.

Returns:
GAN_TRUE on success, GAN_FALSE on failure.

See also:
gan_euclid3D_scale_s().

Gan_Euclid3D gan_euclid3D_scale_s ( Gan_Euclid3D * euc,

double scale

)

Scales Euclidean pose parameters.

Parameters:

euc Pointer to input transformation structure

scale Scale factor by which to multiply parameters

Scales rotation and translation parameters of Euclidean transformation by given scale factor.

Returns:
the result in a new structure.

See also:
gan_euclid3D_scale_q().

Gan_Bool gan_euclid3D_sub_q ( Gan_Euclid3D * euc1,

Gan_Euclid3D * euc2,

Gan_Euclid3D * euc3

)

Macro: Subtract two sets of pose parameters.
Implemented as macro calls to gan_vec3_sub_q() and gan_rot3D_sub_q().

Generated on Fri Mar 17 12:45:02 2006 by

1.3.9.1

Euclidean transformations [Vision Package]

Classes

Typedefs

Functions

Function Documentation

Euclidean transformations
[Vision Package]