maslab.geom
Class GeomUtil

java.lang.Object
  maslab.geom.GeomUtil

public class GeomUtil
extends java.lang.Object

Utilities to convert to and from [DX DY DTHETA] and proper transformation matrices

Constructor Summary

GeomUtil()

Method Summary

static void	main(java.lang.String[] args) Correctness tests
static Matrix	relativeTo(Matrix a, Matrix b) Given two transformation matrices a and b, a=Mb.
static Matrix	transformationInverse31(Matrix a)
static Matrix	transformationInverse31(Matrix a, Matrix r)
static Matrix	transformationMatrix31(Matrix P)
static Matrix	transformationMatrix33(double dx, double dy, double dt)
static Matrix	transformationMatrix33(Matrix T)
static Matrix	transformationMultiply31(Matrix a, Matrix b)
static Matrix	transformationMultiply31(Matrix a, Matrix b, Matrix r)
static Matrix	transformationMultiply33(Matrix a, Matrix b)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

GeomUtil

public GeomUtil()

Method Detail

transformationMatrix33

public static Matrix transformationMatrix33(Matrix T)

transformationMatrix33

public static Matrix transformationMatrix33(double dx,
                                            double dy,
                                            double dt)

transformationMatrix31

public static Matrix transformationMatrix31(Matrix P)

transformationMultiply31

public static Matrix transformationMultiply31(Matrix a,
                                              Matrix b)

transformationMultiply31

public static Matrix transformationMultiply31(Matrix a,
                                              Matrix b,
                                              Matrix r)

transformationMultiply33

public static Matrix transformationMultiply33(Matrix a,
                                              Matrix b)

transformationInverse31

public static Matrix transformationInverse31(Matrix a)

transformationInverse31

public static Matrix transformationInverse31(Matrix a,
                                             Matrix r)

relativeTo

public static Matrix relativeTo(Matrix a,
                                Matrix b)

Given two transformation matrices a and b, a=Mb. This returns M.

main

public static void main(java.lang.String[] args)

Correctness tests