DFRAME Struct Reference

Homogeneous 4x4 transformation matrix, a Frame
with 3x3 orthogonal noa-matrix (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...

Detailed Description

Homogeneous 4x4 transformation matrix, a Frame
with 3x3 orthogonal noa-matrix (n = o x a) and 3x1 position vector. The last row is per default [0 0 0 1].

Member Data Documentation

a

double DFRAME::a[3]

approach vector, a = n x o

n

double DFRAME::n[3]

normal vector, n = o x a

o

double DFRAME::o[3]

orientation vector, o = a x n

p

double DFRAME::p[3]

position vector

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The documentation for this struct was generated from the following file:

• erk_capi_types.h