TheMatclass represents a 4x4 pose matrix. The main purpose of this object is to represent a pose in the 3D space (position and orientation). In other words, a pose is a 4x4 matrix that represents the position and orientation of one reference frame with respect to another one, in the 3D space. Poses are commonly used in robotics to place objects, reference frames and targets with respect to each other.
\( transl(x,y,z) rotx(r) roty(p) rotz(w) = \\ \begin{bmatrix} n_x & o_x & a_x & x \\ n_y & o_y & a_y & y \\ n_z & o_z & a_z & z \\ 0 & 0 & 0 & 1 \end{bmatrix} \).More...

#include <robodk_api.h>

Inheritance diagram for Mat:

公共成员函数
	Mat()
	Create the identity matrix.More...

	Mat(bool valid)
	Create a valid or an invalid matrix.More...

	Mat(const QMatrix4x4 &matrix)
	Create a copy of the matrix.More...

	Mat(constMat&matrix)
	Create a copy of the matrix.More...

	Mat(double nx, double ox, double ax, double tx, double ny, double oy, double ay, double ty, double nz, double oz, double az, double tz)
	Matrix class constructor for a 4x4 homogeneous matrix given N, O, A & T vectorsMore...

	Mat(const double values[16])
	Create a homogeneoux matrix given a one dimensional 16-value array (doubles)More...

	Mat(const float values[16])
	Create a homogeneoux matrix given a one dimensional 16-value array (floats)More...

	operator QString() const
	To String operator (use with qDebug() <<tJoints;.More...

void	setVX(double x, double y, double z)
	Set the X vector values (N vector)More...

void	setVY(double x, double y, double z)
	Set the Y vector values (O vector)More...

void	setVZ(double x, double y, double z)
	Set the Z vector values (A vector)More...

void	setPos(double x, double y, double z)
	Set the position (T position) in mm.More...

void	setVX(double xyz[3])
	Set the X vector values (N vector)More...

void	setVY(double xyz[3])
	Set the Y vector values (O vector)More...

void	setVZ(double xyz[3])
	Set the Z vector values (A vector)More...

void	setPos(double xyz[3])
	Set the position (T position) in mm.More...

void	VX(tXYZxyz) const
	Get the X vector (N vector)More...

void	VY(tXYZxyz) const
	Get the Y vector (O vector)More...

void	VZ(tXYZxyz) const
	Get the Z vector (A vector)More...

void	Pos(tXYZxyz) const
	Get the position (T position), in mm.More...

void	Set(int r, int c, double value)
	Set a matrix value.More...

double	Get(int r, int c) const
	Get a matrix value.More...

Mat	inv() const
	Invert the pose (homogeneous matrix assumed)More...

bool	isHomogeneous() const
	Returns true if the matrix is homogeneous, otherwise it returns false.More...

bool	MakeHomogeneous()
	Forces 4x4 matrix to be homogeneous (vx,vy,vz must be unitary vectors and respect: vx x vy = vz). Returns True if the matrix was not homogeneous and it was be modified to make it homogeneous.More...

void	ToXYZRPW(tXYZWPRxyzwpr) const
	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()More...

QString	ToString(const QString &separator=", ", int precision=3, bool xyzwpr_only=false) const
	Retrieve a string representation of the pose.More...

bool	FromString(const QString &str)
	Set the matrix given a XYZRPW string array (6-values)More...

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

const double *	ValuesD() const
	Get a pointer to the 16-digit double array.More...

const float *	ValuesF() const
	Get a pointer to the 16-digit array as an array of floats.More...

const double *	Values() const
	Get a pointer to the 16-digit array (doubles or floats if ROBODK_API_FLOATS is defined).More...

void	Values(double values[16]) const
	有限公司py the 16-values of the 4x4 matrix to a double array.More...

void	Values(float values[16]) const
	有限公司py the 16-values of the 4x4 matrix to a double array.More...

bool	Valid() const
	Check if the matrix is valid.More...

Static Public Member Functions
staticMat	XYZRPW_2_Mat(double x, double y, double z, double r, double p, double w)
	Calculates the pose from the position and euler angles ([x,y,z,r,p,w] vector) The result is the same as: H = transl(x,y,z)rotz(wpi/180)roty(ppi/180)rotx(rpi/180)More...

staticMat	XYZRPW_2_Mat(tXYZWPRxyzwpr)

staticMat	transl(double x, double y, double z)
	Return a translation matrix.More...

staticMat	rotx(double rx)
	Return the X-axis rotation matrix.More...

staticMat	roty(double ry)
	Return a Y-axis rotation matrixMore...

staticMat	rotz(double rz)
	Return a Z-axis rotation matrix.More...

Private Attributes
bool	_valid
	Flags if a matrix is not valid.More...

double	_ddata16[16]
	d的副本ata as a double array.More...

Detailed Description

TheMatclass represents a 4x4 pose matrix. The main purpose of this object is to represent a pose in the 3D space (position and orientation). In other words, a pose is a 4x4 matrix that represents the position and orientation of one reference frame with respect to another one, in the 3D space. Poses are commonly used in robotics to place objects, reference frames and targets with respect to each other.
\( transl(x,y,z) rotx(r) roty(p) rotz(w) = \\ \begin{bmatrix} n_x & o_x & a_x & x \\ n_y & o_y & a_y & y \\ n_z & o_z & a_z & z \\ 0 & 0 & 0 & 1 \end{bmatrix} \).

Definition at line506of filerobodk_api.h.

有限公司nstructor & Destructor Documentation

◆Mat()[1/7]

Mat ( )

Create the identity matrix.

Definition at line189of filerobodk_api.cpp.

◆Mat()[2/7]

Mat ( bool valid )

Create a valid or an invalid matrix.

Definition at line193of filerobodk_api.cpp.

◆Mat()[3/7]

Mat ( const QMatrix4x4 & matrix )

Create a copy of the matrix.

Definition at line198of filerobodk_api.cpp.

◆Mat()[4/7]

Mat ( constMat& matrix )

Create a copy of the matrix.

Parameters

matrix

Definition at line202of filerobodk_api.cpp.

◆Mat()[5/7]

Mat	(	double	nx,
		double	ox,
		double	ax,
		double	tx,
		double	ny,
		double	oy,
		double	ay,
		double	ty,
		double	nz,
		double	oz,
		double	az,
		double	tz
	)

Matrix class constructor for a 4x4 homogeneous matrix given N, O, A & T vectors

Parameters

nx	Matrix[0,0]
ox	Matrix[0,1]
ax	Matrix[0,2]
tx	Matrix[0,3]
ny	Matrix[1,0]
oy	Matrix[1,1]
ay	Matrix[1,2]
ty	Matrix[1,3]
nz	Matrix[2,0]
oz	Matrix[2,1]
az	Matrix[2,2]
tz	Matrix[2,3]

Returns: \( \begin{bmatrix} n_x & o_x & a_x & x \\ n_y & o_y & a_y & y \\ n_z & o_z & a_z & z \\ 0 & 0 & 0 & 1 \end{bmatrix} \)

Definition at line207of filerobodk_api.cpp.

◆Mat()[6/7]

Mat ( const double values[16] )

Create a homogeneoux matrix given a one dimensional 16-value array (doubles)

Parameters

values

[nx,ny,nz,0, ox,oy,oz,0, ax,ay,az,0, tx,ty,tz,1]

Returns: \( \begin{bmatrix} n_x & o_x & a_x & x \\ n_y & o_y & a_y & y \\ n_z & o_z & a_z & z \\ 0 & 0 & 0 & 1 \end{bmatrix} \)

Definition at line212of filerobodk_api.cpp.

◆Mat()[7/7]

Mat ( const float values[16] )

Create a homogeneoux matrix given a one dimensional 16-value array (floats)

Parameters

values

[nx,ny,nz,0, ox,oy,oz,0, ax,ay,az,0, tx,ty,tz,1]

Returns: \( transl(x,y,z) rotx(r) roty(p) rotz(w) = \\ \begin{bmatrix} n_x & o_x & a_x & x \\ n_y & o_y & a_y & y \\ n_z & o_z & a_z & z \\ 0 & 0 & 0 & 1 \end{bmatrix} \)

Definition at line217of filerobodk_api.cpp.

◆~Mat()

~Mat ( )

Definition at line225of filerobodk_api.cpp.

Member Function Documentation

◆FromString()

bool FromString ( const QString & str )

Set the matrix given a XYZRPW string array (6-values)

Definition at line444of filerobodk_api.cpp.

◆FromXYZRPW()

void FromXYZRPW ( tXYZWPR xyzwpr )

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

Returns: Homogeneous matrix (4x4)

Definition at line480of filerobodk_api.cpp.

◆Get()

double Get	(	int	r,
		int	c
	)		const

Get a matrix value.

Parameters

r	row
c	column

Returns: value

Definition at line302of filerobodk_api.cpp.

◆inv()

Matinv ( ) const

Invert the pose (homogeneous matrix assumed)

Definition at line309of filerobodk_api.cpp.

◆isHomogeneous()

bool isHomogeneous ( ) const

Returns true if the matrix is homogeneous, otherwise it returns false.

Definition at line313of filerobodk_api.cpp.

◆MakeHomogeneous()

bool MakeHomogeneous ( )

Forces 4x4 matrix to be homogeneous (vx,vy,vz must be unitary vectors and respect: vx x vy = vz). Returns True if the matrix was not homogeneous and it was be modified to make it homogeneous.

Definition at line354of filerobodk_api.cpp.

◆运营商QString ()

operator QString ( ) const

inline

To String operator (use with qDebug() <<tJoints;.

Definition at line567of filerobodk_api.h.

◆Pos()

void Pos ( tXYZ xyz ) const

Get the position (T position), in mm.

Definition at line245of filerobodk_api.cpp.

◆rotx()

Matrotx ( double rx )

static

Return the X-axis rotation matrix.

Parameters

rx	Rotation around X axis (in radians).

Returns: \( rotx(\theta) = \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & c_\theta & -s_\theta & 0 \\ 0 & s_\theta & c_\theta & 0 \\ 0 & 0 & 0 & 1 \\ \end{bmatrix} \)

Definition at line534of filerobodk_api.cpp.

◆roty()

Matroty ( double ry )

static

Return a Y-axis rotation matrix

Parameters

ry	Rotation around Y axis (in radians)

Returns: \( roty(\theta) = \begin{bmatrix} c_\theta & 0 & s_\theta & 0 \\ 0 & 1 & 0 & 0 \\ -s_\theta & 0 & c_\theta & 0 \\ 0 & 0 & 0 & 1 \\ \end{bmatrix} \)

Definition at line540of filerobodk_api.cpp.

◆rotz()

Matrotz ( double rz )

static

Return a Z-axis rotation matrix.

Parameters

rz	Rotation around Z axis (in radians)

Returns: \( rotz(\theta) = \begin{bmatrix} c_\theta & -s_\theta & 0 & 0 \\ s_\theta & c_\theta & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \\ \end{bmatrix} \)

Definition at line546of filerobodk_api.cpp.

◆设置()

void Set	(	int	r,
		int	c,
		double	value
	)

Set a matrix value.

Parameters

r	row
c	column
value	value

Definition at line293of filerobodk_api.cpp.

◆setPos()[1/2]

void setPos	(	double	x,
		double	y,
		double	z
	)

Set the position (T position) in mm.

Definition at line267of filerobodk_api.cpp.

◆setPos()[2/2]

void setPos ( double xyz[3] )

Set the position (T position) in mm.

Definition at line287of filerobodk_api.cpp.

◆setVX()[1/2]

void setVX	(	double	x,
		double	y,
		double	z
	)

Set the X vector values (N vector)

Definition at line250of filerobodk_api.cpp.

◆setVX()[2/2]

void setVX ( double xyz[3] )

Set the X vector values (N vector)

Definition at line272of filerobodk_api.cpp.

◆setVY()[1/2]

void setVY	(	double	x,
		double	y,
		double	z
	)

Set the Y vector values (O vector)

Definition at line255of filerobodk_api.cpp.

◆setVY()[2/2]

void setVY ( double xyz[3] )

Set the Y vector values (O vector)

Definition at line277of filerobodk_api.cpp.

◆setVZ()[1/2]

void setVZ	(	double	x,
		double	y,
		double	z
	)

Set the Z vector values (A vector)

Definition at line261of filerobodk_api.cpp.

◆setVZ()[2/2]

void setVZ ( double xyz[3] )

Set the Z vector values (A vector)

Definition at line282of filerobodk_api.cpp.

◆ToString()

QString ToString	(	const QString &	separator=`", "`,
		int	precision=`3`,
		bool	xyzwpr_only=`false`
	)		const

Retrieve a string representation of the pose.

Parameters

separator	String separator
precision	Number of decimals
xyzwpr_only	if set to true (default) the pose will be represented as XYZWPR 6-dimensional array using ToXYZRPW, if set to false, it will include information about the pose

Returns

Definition at line408of filerobodk_api.cpp.

◆ToXYZRPW()

void ToXYZRPW ( tXYZWPR xyzwpr ) const

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

Returns: XYZWPR translation and rotation in mm and degrees

Definition at line382of filerobodk_api.cpp.

◆transl()

Mattransl	(	double	x,
		double	y,
		double	z
	)

static

Return a translation matrix.

Parameters

x	translation along X (mm)
y	translation along Y (mm)
z	translation along Z (mm)

Returns: \( rotx(\theta) = \begin{bmatrix} 1 & 0 & 0 & x \\ 0 & 1 & 0 & y \\ 0 & 0 & 1 & z \\ 0 & 0 & 0 & 1 \\ \end{bmatrix} \)

Definition at line527of filerobodk_api.cpp.

◆Valid()

bool Valid ( ) const

Check if the matrix is valid.

Definition at line523of filerobodk_api.cpp.

◆Values()[1/3]

const double * Values ( ) const

Get a pointer to the 16-digit array (doubles or floats if ROBODK_API_FLOATS is defined).

Definition at line505of filerobodk_api.cpp.

◆Values()[2/3]

void Values ( double values[16] ) const

有限公司py the 16-values of the 4x4 matrix to a double array.

Definition at line513of filerobodk_api.cpp.

◆Values()[3/3]

void Values ( float values[16] ) const

有限公司py the 16-values of the 4x4 matrix to a double array.

Definition at line518of filerobodk_api.cpp.

◆ValuesD()

const双*礼乐祭祀 ( ) const

Get a pointer to the 16-digit double array.

Definition at line489of filerobodk_api.cpp.

◆ValuesF()

const float * ValuesF ( ) const

Get a pointer to the 16-digit array as an array of floats.

Definition at line496of filerobodk_api.cpp.

◆VX()

void VX ( tXYZ xyz ) const

Get the X vector (N vector)

Definition at line230of filerobodk_api.cpp.

◆VY()

void VY ( tXYZ xyz ) const

Get the Y vector (O vector)

Definition at line235of filerobodk_api.cpp.

◆VZ()

void VZ ( tXYZ xyz ) const

Get the Z vector (A vector)

Definition at line240of filerobodk_api.cpp.

◆XYZRPW_2_Mat()[1/2]

MatXYZRPW_2_Mat	(	double	x,
		double	y,
		double	z,
		double	r,
		double	p,
		double	w
	)

static

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

Returns: Homogeneous matrix (4x4)

Definition at line464of filerobodk_api.cpp.

◆XYZRPW_2_Mat()[2/2]

MatXYZRPW_2_Mat ( tXYZWPR xyzwpr )

static

Definition at line476of filerobodk_api.cpp.

Member Data Documentation

◆_ddata16

double _ddata16[16]

private

d的副本ata as a double array.

Definition at line753of filerobodk_api.h.

◆_valid

bool _valid

private

Flags if a matrix is not valid.

Definition at line748of filerobodk_api.h.

The documentation for this class was generated from the following files:

公共成员函数

Static Public Member Functions

Private Attributes

Detailed Description

有限公司nstructor & Destructor Documentation

◆Mat()[1/7]

◆Mat()[2/7]

◆Mat()[3/7]

◆Mat()[4/7]

◆Mat()[5/7]

◆Mat()[6/7]

◆Mat()[7/7]

◆~Mat()

Member Function Documentation

◆FromString()

◆FromXYZRPW()

◆Get()

◆inv()

◆isHomogeneous()

◆MakeHomogeneous()

◆运营商QString ()

◆Pos()

◆rotx()

◆roty()

◆rotz()

◆设置()

◆setPos()[1/2]

◆setPos()[2/2]

◆setVX()[1/2]

◆setVX()[2/2]

◆setVY()[1/2]

◆setVY()[2/2]

◆setVZ()[1/2]

◆setVZ()[2/2]

◆ToString()

◆ToXYZRPW()

◆transl()

◆Valid()

◆Values()[1/3]

◆Values()[2/3]

◆Values()[3/3]

◆ValuesD()

◆ValuesF()

◆VX()

◆VY()

◆VZ()

◆XYZRPW_2_Mat()[1/2]

◆XYZRPW_2_Mat()[2/2]

Member Data Documentation

◆_ddata16

◆_valid