Class Mat

Matrix class for robotics. Simple matrix class for homogeneous operations.

Matrix class constructor for a 4x4 homogeneous matrix as a copy from another matrix

Matrix class constructor for a 4x4 homogeneous matrix

Matrix class constructor for a 3x3 homogeneous matrix

Matrix class constructor for a 4x1 vector [x,y,z,1]

Matrix class constructor for a double array. The array will be set as a column matrix. Example: RDK.AddCurve(new Mat(new double[6] {{0,0,0, 0,0,1}}));

矩阵类构造函数为双arr的数组ays or a single column array (list of points) Example: RDK.AddCurve(new Mat(new double[4, 6] {{0,0,0, 0,0,1}, { 500, 0, 0, 0, 0, 1 }, { 500, 500, 0, 0, 0, 1 }, { 0, 0, 0, 0, 0, 1 } })); RDK.AddPoints(new Mat(new double[6] {{0,0,0, 0,0,1}}));

Matrix class constructor for any size matrix

Returns the angle in radians of two 3D vectors

Returns the cross product of two 3D vectors

Returns the dot product of two 3D vectors

Calculates the pose from the position and euler angles ([x,y,z,rx,ry,rz] array) The result is the same as calling: H = transl(x,y,z)rotx(rxpi/180)roty(rypi/180)rotz(rzpi/180)

Calculates the pose from the position and euler angles ([x,y,z,rx,ry,rz] array) The result is the same as calling: H = transl(x,y,z)rotx(rxpi/180)roty(rypi/180)rotz(rzpi/180)

Calculates the pose from the position and euler angles ([x,y,z,r,p,w] vector) Note: The difference between FromUR and FromXYZWPR is that the first one uses radians for the orientation and the second one uses degres The result is the same as calling: H = transl(x,y,z)*rotx(rx)*roty(ry)*rotz(rz)

Calculates the pose from the position and euler angles ([x,y,z,r,p,w] vector) The result is the same as calling: H = transl(x,y,z)rotz(wpi/180)roty(ppi/180)rotx(rpi/180)

Calculates the pose from the position and euler angles ([x,y,z,r,p,w] vector)

Returns an identity 4x4 matrix (homogeneous matrix)

Returns the inverse of a homogeneous matrix (4x4 matrix)

Check if the matrix is homogeneous (4x4)

Check if it is a Homogeneous Identity matrix

Check if the matrix is square

Returns the norm of a 3D vector

Returns the unitary vector

Returns the XYZ position of the Homogeneous matrix

Returns the sub 3x3 matrix that represents the pose rotation

Rotate a vector given a matrix (rotation matrix or homogeneous matrix)

Return a X-axis rotation matrix | 1 0 0 0 | rotx(rx) = | 0 cos(rx) -sin(rx) 0 | | 0 sin(rx) cos(rx) 0 | | 0 0 0 1 |

Return a Y-axis rotation matrix | cos(ry) 0 sin(ry) 0 | roty(ry) = | 0 1 0 0 | | -sin(ry) 0 cos(ry) 0 | | 0 0 0 1 |

Return a Z-axis rotation matrix | cos(rz) -sin(rz) 0 0 | rotz(rx) = | sin(rz) cos(rz) 0 0 | | 0 0 1 0 | | 0 0 0 1 |

Sets the 4x4 position of the Homogeneous matrix

Sets the 4x4 position of the Homogeneous matrix

Sets the VX orientation vector of the Homogeneous matrix

Sets the VY orientation vector of the Homogeneous matrix

Sets the VZ orientation vector of the Homogeneous matrix

Converts a matrix into a one-dimensional array of doubles

Returns the Matrix string (XYZWPR using the functino ToTxyzRxyz() or matrix values)

Calculates the equivalent position and euler angles ([x,y,z,rx,ry,rz] array) of a pose Note: Pose = transl(x,y,z)rotx(rxpi/180)roty(rypi/180)rotz(rzpi/180) See also: FromTxyzRxyz()

Calculates the equivalent position and euler angles ([x,y,z,r,p,w] vector) of the given pose in Universal Robots format Note: The difference between ToUR and ToXYZWPR is that the first one uses radians for the orientation and the second one uses degres Note: transl(x,y,z)rotx(rxpi/180)roty(rypi/180)rotz(rzpi/180) See also: FromXYZRPW()

Calculates the equivalent position and euler angles ([x,y,z,r,p,w] vector) of the given pose Note: transl(x,y,z)rotz(wpi/180)roty(ppi/180)rotx(rpi/180) See also: FromXYZRPW()

Return a translation matrix | 1 0 0 X | transl(X,Y,Z) = | 0 1 0 Y | | 0 0 1 Z | | 0 0 0 1 |

Transpose a matrix

Returns the VX orientation vector of the Homogeneous matrix

Returns the VY orientation vector of the Homogeneous matrix

Returns the VZ orientation vector of the Homogeneous matrix

Convert a point XYZ and IJK vector (Z axis) to a pose given a hint for the Y axis