spatialmath

Mar 29, 2024

Changes in this version

+ func GeometriesAlmostEqual(a, b Geometry) bool

Nov 28, 2023

Changes in this version

+ func GeoPointToPoint(point, origin *geo.Point) r3.Vector

type GeoPose

+ func PoseToGeoPose(relativeTo *GeoPose, pose Pose) *GeoPose

type Pose

+ func GeoPoseToPose(point, origin *GeoPose) Pose

Nov 10, 2023

Changes in this version

type Geometry

+ func BoundingSphere(geometry Geometry) (Geometry, error)

Sep 14, 2023

Changes in this version

type Pose

+ func PoseBetweenInverse(a, b Pose) Pose

Aug 21, 2023

Changes in this version

+ type GeoPose struct

+ func NewGeoPose(loc *geo.Point, heading float64) *GeoPose

+ func (gpo *GeoPose) Heading() float64

+ func (gpo *GeoPose) Location() *geo.Point

Jun 22, 2023

Changes in this version

+ func GetCartesianDistance(p, q *geo.Point) (float64, float64)

+ func NewGeometriesToProto(geometries []Geometry) []*commonpb.Geometry

type Geometry

+ func GeoObstaclesToGeometries(obstacles []*GeoObstacle, worldOrigin r3.Vector) []Geometry

+ func NewGeometriesFromProto(proto []*commonpb.Geometry) ([]Geometry, error)

type Pose

+ func GeoPointToPose(p *geo.Point) Pose

Jun 9, 2023

Changes in this version

type GeoObstacle

+ func GeoObstaclesFromConfig(config *GeoObstacleConfig) ([]*GeoObstacle, error)

+ func GeoObstaclesFromConfigs(configs []*GeoObstacleConfig) ([]*GeoObstacle, error)

+ type GeoObstacleConfig struct

+ Geometries []*GeometryConfig

+ Location *commonpb.GeoPoint

+ func NewGeoObstacleConfig(geo GeoObstacle) (*GeoObstacleConfig, error)

May 25, 2023

Changes in this version

+ func GeoObstacleToProtobuf(geoObst *GeoObstacle) (*commonpb.GeoObstacle, error)

+ type GeoObstacle struct

+ func GeoObstacleFromProtobuf(protoGeoObst *commonpb.GeoObstacle) (*GeoObstacle, error)

+ func NewGeoObstacle(loc *geo.Point, geom []Geometry) *GeoObstacle

+ func (gob *GeoObstacle) Geometries() []Geometry

+ func (gob *GeoObstacle) Location() *geo.Point

Mar 9, 2023

Changes in this version

type Geometry

+ SetLabel func(string)

Jan 24, 2023

Changes in this version

+ const CapsuleType

+ func ClosestPointSegmentPoint(pt1, pt2, query r3.Vector) r3.Vector

+ func ClosestPointsSegmentSegment(ap1, ap2, bp1, bp2 r3.Vector) (r3.Vector, r3.Vector)

+ func DistToLineSegment(pt1, pt2, query r3.Vector) float64

+ func PlaneNormal(p0, p1, p2 r3.Vector) r3.Vector

+ func SegmentDistanceToSegment(ap1, ap2, bp1, bp2 r3.Vector) float64

type Geometry

+ func NewCapsule(offset Pose, radius, length float64, label string) (Geometry, error)

type GeometryConfig

+ L float64

Jan 7, 2023

Changes in this version

type Geometry

+ String func() string

type Pose

+ func NewPose(p r3.Vector, o Orientation) Pose

Dec 30, 2022

Changes in this version

type Geometry

+ ToPoints func(float64) []r3.Vector

Dec 15, 2022

Changes in this version

type GeometryConfig

+ func (config *GeometryConfig) ToProtobuf() (*commonpb.Geometry, error)

type GeometryCreator

+ func NewGeometryCreatorFromProto(geometry *commonpb.Geometry) (GeometryCreator, error)

+ String func() string

+ ToProtobuf func() *commonpb.Geometry

Nov 25, 2022

Changes in this version

+ const CollisionBuffer

Nov 21, 2022

Changes in this version

+ func OrientationAlmostEqualEps(o1, o2 Orientation, epsilon float64) bool

+ func PoseAlmostEqualEps(a, b Pose, epsilon float64) bool

Oct 8, 2022

Changes in this version

+ func ResetPoseDQTranslation(p Pose, v r3.Vector)

type AngularVelocity

+ func EulerToAngVel(diffEu EulerAngles, dt float64) AngularVelocity

+ func OrientationToAngularVel(diff Orientation, dt float64) AngularVelocity

+ func PointAngVel(r, v r3.Vector) AngularVelocity

+ func R3ToAngVel(vec r3.Vector) *AngularVelocity

+ func (av *AngularVelocity) MulAngVel(t float64) AngularVelocity

type Geometry

+ Label func() string

type GeometryConfig

+ Label string

type RotationMatrix

+ func MatMul(a, b RotationMatrix) *RotationMatrix

+ func (rm *RotationMatrix) LeftMatMul(lmm RotationMatrix) *RotationMatrix

+ func (rm *RotationMatrix) RightMatMul(rmm RotationMatrix) *RotationMatrix

Sep 20, 2022

Changes in this version

+ const BoxType

+ const PointType

+ const SphereType

+ const UnknownType

+ var ErrGeometryTypeUnsupported = errors.New("unsupported Geometry type")

type GeometryCreator

+ Offset func() Pose

+ type GeometryType string

Aug 8, 2022

Changes in this version

+ const AxisAnglesType

+ const Epsilon

+ const EulerAnglesType

+ const NoOrientationType

+ const OrientationVectorDegreesType

+ const OrientationVectorRadiansType

+ const QuaternionType

+ func Flip(q quat.Number) quat.Number

+ func MatToEuler(mat mgl64.Mat4) []float64

+ func Norm(q quat.Number) float64

+ func Normalize(q quat.Number) quat.Number

+ func OffsetBy(a, b *commonpb.Pose) *commonpb.Pose

+ func OrientationAlmostEqual(o1, o2 Orientation) bool

+ func PoseAlmostCoincident(a, b Pose) bool

+ func PoseAlmostCoincidentEps(a, b Pose, epsilon float64) bool

+ func PoseAlmostEqual(a, b Pose) bool

+ func PoseMap(p Pose) (map[string]interface{}, error)

+ func PoseToProtobuf(p Pose) *commonpb.Pose

+ func QuatToR3AA(q quat.Number) r3.Vector

+ func QuaternionAlmostEqual(a, b quat.Number, tol float64) bool

+ func R3VectorAlmostEqual(a, b r3.Vector, epsilon float64) bool

+ func ResetPoseDQTransalation(p Pose, v r3.Vector)

+ type AngularVelocity r3.Vector

+ type AxisConfig r3VectorConfig

+ func NewAxisConfig(axis R4AA) *AxisConfig

+ func (a AxisConfig) ParseConfig() R4AA

+ type EulerAngles struct

+ Pitch float64

+ Roll float64

+ Yaw float64

+ func NewEulerAngles() *EulerAngles

+ func QuatToEulerAngles(q quat.Number) *EulerAngles

+ func (ea *EulerAngles) AxisAngles() *R4AA

+ func (ea *EulerAngles) EulerAngles() *EulerAngles

+ func (ea *EulerAngles) OrientationVectorDegrees() *OrientationVectorDegrees

+ func (ea *EulerAngles) OrientationVectorRadians() *OrientationVector

+ func (ea *EulerAngles) Quaternion() quat.Number

+ func (ea *EulerAngles) RotationMatrix() *RotationMatrix

+ type Geometry interface

+ AlmostEqual func(Geometry) bool

+ CollidesWith func(Geometry) (bool, error)

+ DistanceFrom func(Geometry) (float64, error)

+ EncompassedBy func(Geometry) (bool, error)

+ Pose func() Pose

+ ToProtobuf func() *commonpb.Geometry

+ Transform func(Pose) Geometry

+ Vertices func() []r3.Vector

+ func NewBox(pose Pose, dims r3.Vector) (Geometry, error)

+ func NewGeometryFromProto(geometry *commonpb.Geometry) (Geometry, error)

+ func NewPoint(pt r3.Vector) Geometry

+ func NewSphere(pt r3.Vector, radius float64) (Geometry, error)

+ type GeometryConfig struct

+ OrientationOffset OrientationConfig

+ R float64

+ TranslationOffset TranslationConfig

+ Type string

+ X float64

+ Y float64

+ Z float64

+ func NewGeometryConfig(offset Pose) (*GeometryConfig, error)

+ func (config *GeometryConfig) ParseConfig() (GeometryCreator, error)

+ type GeometryCreator interface

+ NewGeometry func(Pose) Geometry

+ func NewBoxCreator(dims r3.Vector, offset Pose) (GeometryCreator, error)

+ func NewPointCreator(offset Pose) GeometryCreator

+ func NewSphereCreator(radius float64, offset Pose) (GeometryCreator, error)

+ type Orientation interface

+ AxisAngles func() *R4AA

+ EulerAngles func() *EulerAngles

+ OrientationVectorDegrees func() *OrientationVectorDegrees

+ OrientationVectorRadians func() *OrientationVector

+ Quaternion func() quat.Number

+ RotationMatrix func() *RotationMatrix

+ func NewZeroOrientation() Orientation

+ func OrientationBetween(o1, o2 Orientation) Orientation

+ func OrientationInverse(o Orientation) Orientation

+ type OrientationConfig struct

+ Type string

+ Value json.RawMessage

+ func NewOrientationConfig(o Orientation) (*OrientationConfig, error)

+ func (config *OrientationConfig) ParseConfig() (Orientation, error)

+ type OrientationType string

+ type OrientationVector struct

+ OX float64

+ OY float64

+ OZ float64

+ Theta float64

+ func NewOrientationVector() *OrientationVector

+ func QuatToOV(q quat.Number) *OrientationVector

+ func (ov *OrientationVector) AxisAngles() *R4AA

+ func (ov *OrientationVector) Degrees() *OrientationVectorDegrees

+ func (ov *OrientationVector) EulerAngles() *EulerAngles

+ func (ov *OrientationVector) IsValid() error

+ func (ov *OrientationVector) Normalize()

+ func (ov *OrientationVector) OrientationVectorDegrees() *OrientationVectorDegrees

+ func (ov *OrientationVector) OrientationVectorRadians() *OrientationVector

+ func (ov *OrientationVector) Quaternion() quat.Number

+ func (ov *OrientationVector) RotationMatrix() *RotationMatrix

+ func (ov *OrientationVector) ToQuat() quat.Number

+ type OrientationVectorDegrees struct

+ OX float64

+ OY float64

+ OZ float64

+ Theta float64

+ func NewOrientationVectorDegrees() *OrientationVectorDegrees

+ func QuatToOVD(q quat.Number) *OrientationVectorDegrees

+ func (ovd *OrientationVectorDegrees) AxisAngles() *R4AA

+ func (ovd *OrientationVectorDegrees) EulerAngles() *EulerAngles

+ func (ovd *OrientationVectorDegrees) IsValid() error

+ func (ovd *OrientationVectorDegrees) Normalize()

+ func (ovd *OrientationVectorDegrees) OrientationVectorDegrees() *OrientationVectorDegrees

+ func (ovd *OrientationVectorDegrees) OrientationVectorRadians() *OrientationVector

+ func (ovd *OrientationVectorDegrees) Quaternion() quat.Number

+ func (ovd *OrientationVectorDegrees) Radians() *OrientationVector

+ func (ovd *OrientationVectorDegrees) RotationMatrix() *RotationMatrix

+ func (ovd *OrientationVectorDegrees) ToQuat() quat.Number

+ type Pose interface

+ Orientation func() Orientation

+ Point func() r3.Vector

+ func Compose(a, b Pose) Pose

+ func Interpolate(p1, p2 Pose, by float64) Pose

+ func NewPoseFromDH(a, d, alpha float64) Pose

+ func NewPoseFromOrientation(point r3.Vector, o Orientation) Pose

+ func NewPoseFromPoint(point r3.Vector) Pose

+ func NewPoseFromProtobuf(pos *commonpb.Pose) Pose

+ func NewZeroPose() Pose

+ func PoseBetween(a, b Pose) Pose

+ func PoseDelta(a, b Pose) Pose

+ func PoseInverse(p Pose) Pose

+ type Quaternion quat.Number

+ func (q *Quaternion) AxisAngles() *R4AA

+ func (q *Quaternion) EulerAngles() *EulerAngles

+ func (q *Quaternion) MarshalJSON() ([]byte, error)

+ func (q *Quaternion) OrientationVectorDegrees() *OrientationVectorDegrees

+ func (q *Quaternion) OrientationVectorRadians() *OrientationVector

+ func (q *Quaternion) Quaternion() quat.Number

+ func (q *Quaternion) RotationMatrix() *RotationMatrix

+ type R4AA struct

+ RX float64

+ RY float64

+ RZ float64

+ Theta float64

+ func NewR4AA() *R4AA

+ func QuatToR4AA(q quat.Number) *R4AA

+ func R3ToR4(aa r3.Vector) *R4AA

+ func (r4 *R4AA) AxisAngles() *R4AA

+ func (r4 *R4AA) EulerAngles() *EulerAngles

+ func (r4 *R4AA) Normalize()

+ func (r4 *R4AA) OrientationVectorDegrees() *OrientationVectorDegrees

+ func (r4 *R4AA) OrientationVectorRadians() *OrientationVector

+ func (r4 *R4AA) Quaternion() quat.Number

+ func (r4 *R4AA) RotationMatrix() *RotationMatrix

+ func (r4 *R4AA) ToQuat() quat.Number

+ func (r4 *R4AA) ToR3() r3.Vector

+ type RotationMatrix struct

+ func NewRotationMatrix(m []float64) (*RotationMatrix, error)

+ func QuatToRotationMatrix(q quat.Number) *RotationMatrix

+ func (rm *RotationMatrix) At(row, col int) float64

+ func (rm *RotationMatrix) AxisAngles() *R4AA

+ func (rm *RotationMatrix) Col(col int) r3.Vector

+ func (rm *RotationMatrix) EulerAngles() *EulerAngles

+ func (rm *RotationMatrix) Mul(v r3.Vector) r3.Vector

+ func (rm *RotationMatrix) OrientationVectorDegrees() *OrientationVectorDegrees

+ func (rm *RotationMatrix) OrientationVectorRadians() *OrientationVector

+ func (rm *RotationMatrix) Quaternion() quat.Number

+ func (rm *RotationMatrix) RotationMatrix() *RotationMatrix

+ func (rm *RotationMatrix) Row(row int) r3.Vector

+ type TranslationConfig r3VectorConfig

+ func NewTranslationConfig(translation r3.Vector) *TranslationConfig

+ func (t *TranslationConfig) ParseConfig() r3.Vector