Matrix class included
Dependencies: Matrix
Diff: MatrixMath_Kinematics.cpp
- Revision:
- 5:93948a9bbde2
- Parent:
- 4:d360c068d55f
- Child:
- 6:aa5e94cddb3f
--- a/MatrixMath_Kinematics.cpp Sun Oct 30 04:48:15 2011 +0000 +++ b/MatrixMath_Kinematics.cpp Sun Oct 30 19:21:30 2011 +0000 @@ -1,9 +1,11 @@ /** - * @brief Kinematics Operations + * @brief Simple Kinematics Operations * @file MatrixMath_Kinematics.cpp - * @author Erneseto Palacios + * @author Ernesto Palacios * - * Develop Under GPL v3.0 License + * Created on september 2011, 09:44 AM. + * + * Develop Under GPL v3.0 License * http://www.gnu.org/licenses/gpl-3.0.html */ @@ -20,9 +22,9 @@ Matrix rotate( 4, 4 ); rotate << 1 << 0 << 0 << 0 - << 0 << cs << -sn << 0 - << 0 << sn << cs << 0 - << 0 << 0 << 0 << 1; + << 0 << cs << -sn << 0 + << 0 << sn << cs << 0 + << 0 << 0 << 0 << 1; return rotate; @@ -36,9 +38,9 @@ Matrix rotate( 4, 4 ); rotate << cs << 0 << sn << 0 - << 0 << 1 << 0 << 0 - << -sn << 0 << cs << 0 - << 0 << 0 << 0 << 1; + << 0 << 1 << 0 << 0 + << -sn << 0 << cs << 0 + << 0 << 0 << 0 << 1; return rotate; } @@ -52,8 +54,8 @@ rotate << cs << -sn << 0 << 0 << sn << cs << 0 << 0 - << 0 << 0 << 1 << 0 - << 0 << 0 << 0 << 1; + << 0 << 0 << 1 << 0 + << 0 << 0 << 0 << 1; return rotate; } @@ -64,7 +66,7 @@ Matrix Translation = MatrixMath::Eye( 3 ); //Identity Matrix Matrix Position( 4, 1 ); // Position Matrix - Position << x << y << z << 1; // position @ x,y,z + Position << x << y << z << 1; // position @ x,y,z Matrix::AddRow( Translation, 4 ); // Add Row Matrix::AddCol( Translation, Position, 4 ); // Add Position Matrix