Structures and Enums
Overview
Matrix uses doubles and arrays of doubles for all of its’ types.
The main type used is Trans_Matrix_typ, which is a double[4,4] that represents a transformation matrix.
A transformation matrix has a rotation matrix in the top left 3x3, translation in the rightmost 3x1, and the bottom row 1x4 = [0,0,0,1].
For ease of use, matrices are often represented as a Trans_Vector_typ where the Trans_Vector_typ is converted to a Trans_Matrix_typ based on the user selected Euler angle convention (ANGLE_TYPES).
Each consecutive rotation in the ABC orientation representation will do a body rotation about the axis specified in ANGLE_TYPE.
Derived Types
The following types are used for clarity when operating on vectors and matrices.
| Name | Type | Description |
|---|---|---|
| Trans_Matrix_typ | double[4][4] | Row major transformation matrix |
| Trans_Vector_typ | double[6] | XYZ translation and ABC Euler angles (deg.) of a transformation, ANGLE_TYPE is used to specify the order of rotations |
| Trans_Translation_typ | double[3] | XYZ translation |
| Trans_Orientation_typ | double[3] | ABC orientation as Euler angles |
Structures
These structures are used for clarity when using sub-elements of vectors and matrices.
Element names separated by commas share the same type and description.
Trans_Vector_c_r_typ
| Name | Type | Description |
|---|---|---|
| Offset | Trans_Translation_typ | XYZ translation |
| Rotation | Trans_Orientation_typ | ABC rotation, interpreted based on ANGLE_TYPE |
Trans_Vector_c_typ
| Name | Type | Description |
|---|---|---|
| X, Y, Z, A, B, C | double | A Trans_Vector_typ with each element directly accessible |
Trans_Vector_j_typ
| Name | Type | Description |
|---|---|---|
| Q1, Q2, Q3, Q4, Q5, Q6 | double | Series of joint values |
Trans_Vector_j7_typ
This structure is depreciated and should not be used.
| Name | Type | Description |
|---|---|---|
| Q1, Q2, Q3, Q4, Q5, Q6 | double | Series of joint values |
Trans_Translation_m_typ
| Name | Type | Description |
|---|---|---|
| X, Y, Z | double | A Trans_Translation_typ with each element directly accessible |
Trans_Orientation_m_typ
| Name | Type | Description |
|---|---|---|
| A, B, C | double | A Trans_Orientation_typ with each element directly accessible |
Enumerations
ANGLE_TYPES
Order of rotation for euler angles.
| Name | Value | Description |
|---|---|---|
| CARDAN_XYZ | 0 | |
| CARDAN_XZY_NO_IMPL | 1 | |
| CARDAN_YXZ | 2 | |
| CARDAN_YZX_NO_IMPL | 3 | |
| CARDAN_ZXY | 4 | |
| CARDAN_ZYX | 5 | |
| CARDAN_XYX | 6 | |
| CARDAN_XZX | 7 | |
| CARDAN_YXY | 8 | |
| CARDAN_YZY | 9 | |
| CARDAN_ZXZ | 10 | |
| CARDAN_ZYZ | 11 | |
| CARDAN_NULL | 24 |
Errors/Status
The Matrix library does not throw any specific error numbers currently.