tools.h File Reference

#include "coal/fwd.hh"
#include <cmath>
#include <iostream>
#include <limits>
#include "coal/data_types.h"

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Namespaces
namespace	coal
	Main namespace.

Functions
template<typename Derived1, typename Derived2, typename Derived3>
void	coal::generateCoordinateSystem (const Eigen::MatrixBase< Derived1 > &_w, const Eigen::MatrixBase< Derived2 > &_u, const Eigen::MatrixBase< Derived3 > &_v)
template<typename Derived, typename OtherDerived>
void	coal::relativeTransform (const Eigen::MatrixBase< Derived > &R1, const Eigen::MatrixBase< OtherDerived > &t1, const Eigen::MatrixBase< Derived > &R2, const Eigen::MatrixBase< OtherDerived > &t2, const Eigen::MatrixBase< Derived > &R, const Eigen::MatrixBase< OtherDerived > &t)
template<typename Derived, typename Vector>
void	coal::eigen (const Eigen::MatrixBase< Derived > &m, typename Derived::Scalar dout[3], Vector *vout)
	compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors
template<typename Derived, typename OtherDerived>
bool	coal::isEqual (const Eigen::MatrixBase< Derived > &lhs, const Eigen::MatrixBase< OtherDerived > &rhs, const CoalScalar tol=std::numeric_limits< CoalScalar >::epsilon() *100)