PUBLIC

HtmFunctionsC::Tx(RealT) HtmFunctionsC::Ty(RealT) HtmFunctionsC::Tz(RealT) HtmFunctionsC::Td(RealT,RealT,RealT) HtmFunctionsC::Tr(RealT,RealT,RealT,RealT) HtmFunctionsC::Tu(RealT,RealT,RealT,RealT) HtmFunctionsC::Trot(Vector3dC &) HtmFunctionsC::Trpy(RealT,RealT,RealT)

HtmFunctionsC
include	"amma/HtmFunctionsC.hh"
User Level:	Default
Library:	HoppeOpt
Example:	regtool.cc
Section:	default.Andrew Stoddart
In Scope:	std

Comments:
----------------------------------------------------------------------------- *********************************** HtmFunctionsC *************************** ----------------------------------------------------------------------------- File Name : HtmFunctionsC.hh Author : Paris Lyritis Last Change : 20/11/1997 Synopsis : The HtmFunctionsC contains functions that return an HomTransMatC ----------------------------------------------------------------------------- Modifications :

HomTransMatC Tx(RealT)

Returns an HomTransMatC for rotations about the x axis. Takes a RealT which is the angle of rotation in degrees.

HomTransMatC Ty(RealT)

Same as before for rotations about y.

HomTransMatC Tz(RealT)

Same as before for rotations about y.

HomTransMatC Td(RealT,RealT,RealT)

Returns the HomTransMatC along x,y and z axes. Takes three RealT which are the translations along x, y and z accordingly

HomTransMatC Tr(RealT,RealT,RealT,RealT)

Returns the HomTransMatC for rotations about an arbitary axis The axis is defined by the vector given with the first three RealT The fourth RealT is the angle of rotation in degrees. The vector is NORMALISED in the routine

HomTransMatC Tu(RealT,RealT,RealT,RealT)

The same as before, only that here the vector is already assumed to be the unit vector of the desired axis of rotation.

HomTransMatC Trot(Vector3dC &)

The given vector represents an axis and a theta (degrees)

HomTransMatC Trpy(RealT r,RealT p,RealT y)

This is the transformation matrix for a roll-pitch-yaw (rpy) rotation. The rpy rotation consists of: 1. A rotation of r degrees about Z followed by 2. A rotation of p degrees about Y followed by 3. A rotation of y degrees about Z.