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| void | AL::Math::transformLogarithmInPlace (const Transform &pT, Velocity6D &pVel) |
| | Compute the logarithme of a transform. Angle must be between ![$\left[-\pi+0.001, \pi-0.001\right]$](form_11.png) More...
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| Velocity6D | AL::Math::transformLogarithm (const Transform &pT) |
| | Compute the logarithme of a transform. Angle must be between ![$\left[-\pi+0.001, \pi-0.001\right] $](form_12.png) More...
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| Transform | AL::Math::velocityExponential (const Velocity6D &pVel) |
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| void | AL::Math::velocityExponentialInPlace (const Velocity6D &pVel, Transform &pT) |
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| void | AL::Math::changeReferenceVelocity6D (const Transform &pT, const Velocity6D &pVelIn, Velocity6D &pVelOut) |
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| void | AL::Math::changeReferencePosition6D (const Transform &pT, const Position6D &pPosIn, Position6D &pPosOut) |
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| void | AL::Math::changeReferencePosition3DInPlace (const Transform &pT, Position3D &pPosOut) |
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| void | AL::Math::changeReferenceTransposePosition3DInPlace (const Transform &pT, Position3D &pPosOut) |
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| void | AL::Math::changeReferencePosition3D (const Transform &pT, const Position3D &pPosIn, Position3D &pPosOut) |
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| void | AL::Math::changeReferenceTransposePosition3D (const Transform &pT, const Position3D &pPosIn, Position3D &pPosOut) |
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| void | AL::Math::changeReferenceTransform (const Transform &pT, const Transform &pTIn, Transform &pTOut) |
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| void | AL::Math::changeReferenceTransposeTransform (const Transform &pT, const Transform &pTIn, Transform &pTOut) |
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| void | AL::Math::changeReferenceTransposeVelocity6D (const Transform &pT, const Velocity6D &pVelIn, Velocity6D &pVelOut) |
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| void | AL::Math::changeReferenceTransposePosition6D (const Transform &pT, const Position6D &pPosIn, Position6D &pPosOut) |
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| void | AL::Math::transformMeanInPlace (const Transform &pTIn1, const Transform &pTIn2, const float &pVal, Transform &pTOut) |
| | Preform a logarithmic mean of pTIn1 and pTIn2 and put it in pTout. More...
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| Transform | AL::Math::transformMean (const Transform &pTIn1, const Transform &pTIn2, const float &pVal=0.5f) |
| | Preform a logarithmic mean of pTIn1 and pTIn2. More...
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| Transform | AL::Math::transformFromRotationPosition3D (const Rotation &pRot, const float &pX, const float &pY, const float &pZ) |
| | Create a Transform from 3D cartesian coordiantes and a Rotation. More...
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| Transform | AL::Math::transformFromRotationPosition3D (const Rotation &pRot, const Position3D &pPos) |
| | Create a Transform from a Position3D and a Rotation. More...
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| void | AL::Math::transformFromPosition3DInPlace (const Position3D &pPosition, Transform &pTransform) |
| | Modify pTransform to set the translation part to pPosition. More...
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| Transform | AL::Math::transformFromPosition3D (const Position3D &pPosition) |
| | Create a 4*4 transform matrix from cartesian coordinates given in pPosition. More...
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| void | AL::Math::transformFromRotationInPlace (const Rotation &pRotation, Transform &pTransform) |
| | Modify the rotation part of the transform. The translation part of the transform is not modified. More...
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| Transform | AL::Math::transformFromRotation (const Rotation &pRotation) |
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| void | AL::Math::rotationFromTransformInPlace (const Transform &pTransform, Rotation &pRotation) |
| | Extract the position coordinates from a Transform. More...
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| Rotation | AL::Math::rotationFromTransform (const Transform &pTransform) |
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| Rotation3D | AL::Math::rotation3DFromRotation (const Rotation &pRotation) |
| | return 3 angles which result in the equivalent rotation when composed in the following order: Rz(wz) * Ry(wy) * Rx(wx) = R More...
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| Rotation | AL::Math::rotationFromAxesXY (const Position3D &pX, const Position3D &pY) |
| | return a Rotation Matrix initialized with its direction vectors X and Y in world coordinates. These vectors represent, respectively, the first and second columns of the Rotation matrix. The vectors must be unitary and orthogonal. More...
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| Rotation | AL::Math::rotationFromAxesXZ (const Position3D &pX, const Position3D &pZ) |
| | return a Rotation Matrix initialized with its direction vectors X and Z in world coordinates. These vectors represent, respectively, the first and third columns of the Rotation matrix. The vectors must be unitary and orthogonal. More...
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| Rotation | AL::Math::rotationFromAxesYZ (const Position3D &pY, const Position3D &pZ) |
| | return a Rotation Matrix initialized with its direction vectors X and Y in world coordinates. These vectors represent, respectively, the second and third columns of the Rotation matrix. The vectors must be unitary and orthogonal. More...
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| Rotation | AL::Math::rotationFromAxesXYZ (const Position3D &pX, const Position3D &pY, const Position3D &pZ) |
| | return a Rotation Matrix initialized with its direction vectors in world coordinates. The vectors represent the columns of the Rotation matrix. The vectors must be unitary and orthogonal. More...
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| void | AL::Math::position6DFromTransformInPlace (const Transform &pT, Position6D &pPos) |
| | Compute Position6D corresponding to the Transform. More...
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| Position6D | AL::Math::position6DFromTransform (const Transform &pT) |
| | Compute Position6D corresponding to 4*4 Homogenous Transform. More...
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| void | AL::Math::transformFromPose2DInPlace (const Pose2D &pPose, Transform &pT) |
| | Compute a Transform from a Pose2D. More...
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| Transform | AL::Math::transformFromPose2D (const Pose2D &pPose) |
| | Create a Transform from a Pose2D. More...
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| void | AL::Math::pose2DFromTransformInPlace (const Transform &pT, Pose2D &pPos) |
| | Compute a Pose2D from a Transform. More...
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| Pose2D | AL::Math::pose2DFromTransform (const Transform &pT) |
| | Create a Pose2D from a Transform. More...
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| void | AL::Math::position2DFromTransformInPlace (const Transform &pT, Position2D &pPos) |
| | Compute a Position2D from a Transform. More...
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| Position2D | AL::Math::position2DFromTransform (const Transform &pT) |
| | Create a Position2D from a Transform. More...
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| Transform | AL::Math::transformFromRotation3D (const Rotation3D &pRotation) |
| | Create a Transform from the 3 angles stored in a Rotation3D. The angles are composed in the following order: Rz(wz) * Ry(wy) * Rx(wx) = R More...
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| Transform | AL::Math::transformFromPosition6D (const Position6D &pPosition6D) |
| | Create a Transform from a Position6D. More...
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| void | AL::Math::position6DFromTransformDiffInPlace (const Transform &pCurrent, const Transform &pTarget, Position6D &result) |
| | Computes a 6 differential motion required to move from a 4*4 Homogenous transform matrix Current to a 4*4 Homogenous transform matrix target. More...
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| Position6D | AL::Math::position6DFromTransformDiff (const Transform &pCurrent, const Transform &pTarget) |
| | Computes a 6 differential motion require to move from a 4*4 Homogenous transform matrix Current to a 4*4 Homogenous transform matrix target. More...
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| void | AL::Math::position3DFromTransformInPlace (const Transform &pT, Position3D &pPos) |
| | Compute a Position3D from a Transform. More...
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| Position3D | AL::Math::position3DFromTransform (const Transform &pT) |
| | Create a Position3D from a Transform. More...
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| Rotation3D | AL::Math::rotation3DFromTransform (const Transform &pT) |
| | Create a Rotation3D (Roll, Pitch, Yaw) corresponding to the rotational part of the Transform. R = Rz(wz) * Ry(wy) * Rx(wx) More...
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| void | AL::Math::transformFromRotVecInPlace (const int pAxis, const float pTheta, const Position3D &pPos, Transform &pT) |
| | Compute a Transform from More...
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| Transform | AL::Math::transformFromRotVec (const int pAxis, const float pTheta, const Position3D &pPos) |
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| void | AL::Math::transformFromRotVecInPlace (const Position3D &pPos, Transform &pT) |
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| Transform | AL::Math::transformFromRotVec (const Position3D &pPos) |
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| Transform | AL::Math::transformFromRotVec (const int &pAxis, const float &pTheta) |
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| Position3D | AL::Math::operator* (const Transform &pT, const Position2D &pPos) |
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| Position3D | AL::Math::operator* (const Transform &pT, const Position3D &pPos) |
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| Transform | AL::Math::axisRotationProjection (const Position3D &pAxis, const Transform &pT) |
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| Rotation | AL::Math::axisRotationProjection (const Position3D &pAxis, const Rotation &pRot) |
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| void | AL::Math::axisRotationProjectionInPlace (const Position3D &pAxis, Transform &pT) |
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| void | AL::Math::axisRotationProjectionInPlace (const Position3D &pAxis, Rotation &pRot) |
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| void | AL::Math::orthogonalSpace (const Position3D &pPos, Transform &pTf) |
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| Transform | AL::Math::orthogonalSpace (const Position3D &pPos) |
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| Transform | AL::Math::transformFromQuaternion (const Quaternion &pQua) |
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| Quaternion | AL::Math::quaternionFromTransform (const Transform &pT) |
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| Transform | AL::Math::transformFromDisplacement (const Displacement &pDisp) |
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| Displacement | AL::Math::displacementFromTransform (const Transform &pTrans) |
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