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Euclidean transformations
[Vision Package]


Compounds

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.


Typedef Documentation

typedef struct Gan_Euclid3D_TRCov Gan_Euclid3D_TRCov
 

Cross-covariance between rotation and translation.


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 .

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
Rxy Rotation matrix element
Rxz Rotation matrix element
Ryx Rotation matrix element
Ryy Rotation matrix element
Ryz Rotation matrix element
Rzx Rotation matrix element
Rzy Rotation matrix element
Rzz Rotation matrix element
Fill the translation and rotation parameters of a Euclidean transformation. The rotation is represented as a rotation matrix .

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().


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