48 lines
2.8 KiB
C
48 lines
2.8 KiB
C
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// -------------------------------------------------------------------------------
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// Copyright (c) 2012, Junggon Kim
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// 1. Redistributions of source code must retain the above copyright notice, this
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// list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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// ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// -------------------------------------------------------------------------------
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//================================================================================
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// Addon function for liegroup.h and rmatrix3j.h
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// junggon@gmail.com
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//================================================================================
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#ifndef _ADDON_FUNCTIONS_FOR_LIEGROUP_AND_RMATRIX3_
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#define _ADDON_FUNCTIONS_FOR_LIEGROUP_AND_RMATRIX3_
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#include <math.h>
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#include "liegroup.h"
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#include "rmatrix3j.h"
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RMatrix Ad(const SE3 &T, const RMatrix &J); // return [Ad(T,J_1), ..., Ad(T,J_n)] where J = [J_1, ..., J_n] = 6 by n matrix
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RMatrix dAd(const SE3 &T, const RMatrix &J); // return [dAd(T,J_1), ..., dAd(T,J_n)] where J = [J_1, ..., J_n] = 6 by n matrix
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RMatrix ad(const se3 &S, const RMatrix &J); // return [ad(S,J_1), ..., ad(S,J_n)] where J = [J_1, ..., J_n] = 6 by n matrix
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RMatrix ad(const RMatrix &S1, const RMatrix &S2); // return ad(convert_to_se3(S1), S2)
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RMatrix dad(const se3 &S, const RMatrix &J); // return [dad(S,J_1), ..., dad(S,J_n)] where J = [J_1, ..., J_n] = 6 by n matrix
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RMatrix Cross(const Vec3 &a, const RMatrix &B); // return [Cross(a,b_1), ..., Cross(a,b_n)] where B = [b_1, ..., b_n] = 3 by n matrix
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#include "liegroup_rmatrix3_ext.inl"
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#endif
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