rbdl_mathutils.cc File Reference

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Namespaces
namespace	RigidBodyDynamics
namespace	RigidBodyDynamics::Math
	Math types such as vectors and matrices and utility functions.

Functions
RBDL_DLLAPI Vector3d	Vector3dZero (0., 0., 0.)
RBDL_DLLAPI Matrix3d	Matrix3dIdentity (1., 0., 0., 0., 1., 0., 0., 0., 1)
RBDL_DLLAPI Matrix3d	Matrix3dZero (0., 0., 0., 0., 0., 0., 0., 0., 0.)
RBDL_DLLAPI SpatialVector	SpatialVectorZero (0., 0., 0., 0., 0., 0.)
RBDL_DLLAPI bool	LinSolveGaussElimPivot (MatrixNd A, VectorNd b, VectorNd &x)
	Solves a linear system using gaussian elimination with pivoting. More...
RBDL_DLLAPI void	SpatialMatrixSetSubmatrix (SpatialMatrix &dest, unsigned int row, unsigned int col, const Matrix3d &matrix)
RBDL_DLLAPI bool	SpatialMatrixCompareEpsilon (const SpatialMatrix &matrix_a, const SpatialMatrix &matrix_b, Scalar epsilon)
RBDL_DLLAPI bool	SpatialVectorCompareEpsilon (const SpatialVector &vector_a, const SpatialVector &vector_b, Scalar epsilon)
RBDL_DLLAPI Matrix3d	parallel_axis (const Matrix3d &inertia, Scalar mass, const Vector3d &com)
	Translates the inertia matrix to a new center. More...
RBDL_DLLAPI SpatialMatrix	Xtrans_mat (const Vector3d &displacement)
	Creates a transformation of a linear displacement. More...
RBDL_DLLAPI SpatialMatrix	Xrotx_mat (const Scalar &xrot)
	Creates a rotational transformation around the X-axis. More...
RBDL_DLLAPI SpatialMatrix	Xroty_mat (const Scalar &yrot)
	Creates a rotational transformation around the Y-axis. More...
RBDL_DLLAPI SpatialMatrix	Xrotz_mat (const Scalar &zrot)
	Creates a rotational transformation around the Z-axis. More...
RBDL_DLLAPI SpatialMatrix	XtransRotZYXEuler (const Vector3d &displacement, const Vector3d &zyx_euler)
	Creates a spatial transformation for given parameters. More...
RBDL_DLLAPI void	SparseFactorizeLTL (Model &model, Math::MatrixNd &H)
RBDL_DLLAPI void	SparseMultiplyHx (Model &model, Math::MatrixNd &L)
RBDL_DLLAPI void	SparseMultiplyLx (Model &model, Math::MatrixNd &L)
RBDL_DLLAPI void	SparseMultiplyLTx (Model &model, Math::MatrixNd &L)
RBDL_DLLAPI void	SparseSolveLx (Model &model, Math::MatrixNd &L, Math::VectorNd &x)
RBDL_DLLAPI void	SparseSolveLTx (Model &model, Math::MatrixNd &L, Math::VectorNd &x)