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:

Public Member Functions
	Mat()
	Create the identity matrix.

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

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

	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])
	创建一个给定一个dimensiona homogeneoux矩阵l 16-value array (doubles)More...

	Mat(const float values[16])
	创建一个给定一个dimensiona homogeneoux矩阵l 16-value array (floats)More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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)

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

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.

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)

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.

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

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

void	Values(double values[16]) const
	4 x4矩阵的16个值复制到做uble array.

void	Values(float values[16]) const
	4 x4矩阵的16个值复制到做uble array.

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

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.

double	_ddata16[16]
	Copy of the data as a double array.

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.

Constructor & Destructor Documentation

◆Mat()[1/4]

Mat ( constMat& matrix )

Create a copy of the matrix.

Parameters

matrix

Definition at line202of filerobodk_api.cpp.

◆Mat()[2/4]

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()[3/4]

Mat ( const double values[16] )

创建一个给定一个dimensiona homogeneoux矩阵l 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()[4/4]

Mat ( const float values[16] )

创建一个给定一个dimensiona homogeneoux矩阵l 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.

Member Function Documentation

◆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.

◆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.

◆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.

◆XYZRPW_2_Mat()

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.

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

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆Mat()[1/4]

◆Mat()[2/4]

◆Mat()[3/4]

◆Mat()[4/4]

Member Function Documentation

◆FromXYZRPW()

◆Get()

◆rotx()

◆roty()

◆rotz()

◆设置()

◆ToString()

◆ToXYZRPW()

◆transl()

◆XYZRPW_2_Mat()