EASYROB™ Kernel
v9.304

Homogeneous 4x4 transformation matrix, a Frame
with 3x3 orthogonal noamatrix (n = o x a) and 3x1 position vector. The last row is per default [0 0 0 1].
More...
#include <erk_capi_types.h>
Public Attributes  
double  n [3] 
normal vector, n = o x a More...  
double  o [3] 
orientation vector, o = a x n More...  
double  a [3] 
approach vector, a = n x o More...  
double  p [3] 
position vector More...  
Homogeneous 4x4 transformation matrix, a Frame
with 3x3 orthogonal noamatrix (n = o x a) and 3x1 position vector. The last row is per default [0 0 0 1].
double DFRAME::a[3] 
approach vector, a = n x o
double DFRAME::n[3] 
normal vector, n = o x a
double DFRAME::o[3] 
orientation vector, o = a x n
double DFRAME::p[3] 
position vector