Diff: MatrixMath_Kinematics.cpp

Revision:

4:d360c068d55f

Parent:

2:d487bb616ec1

Child:

5:93948a9bbde2

--- a/MatrixMath_Kinematics.cpp	Sun Oct 30 04:44:45 2011 +0000
+++ b/MatrixMath_Kinematics.cpp	Sun Oct 30 04:48:15 2011 +0000
@@ -1,74 +1,73 @@
-/**@file  Kinematic_Operations
- * @author Ernesto Palacios
- *
- * @brief Definition for Kinematic Operations.
- *
- *  Develop Under  GPL v3.0 License
- *  http://www.gnu.org/licenses/gpl-3.0.html
- *
- */
-
-#include "mbed.h"
-#include "Matrix.h"
-#include "MatrixMath.h"
-
-
-Matrix MatrixMath::RotX( float radians )
-{
-    float cs = cos( radians );
-    float sn = sin( radians );
-
-    Matrix rotate( 4, 4 );
-
-    rotate << 1 << 0  <<  0  << 0
-	       << 0 << cs << -sn << 0
-	       << 0 << sn <<  cs << 0
-	       << 0 << 0  <<  0  << 1;
-
-    return rotate;
-
-}
-
-Matrix MatrixMath::RotY( float radians )
-{
-    float cs = cos( radians );
-    float sn = sin( radians );
-
-    Matrix rotate( 4, 4 );
-
-    rotate << cs   << 0   <<  sn  << 0
-	       <<  0   << 1   <<  0   << 0
-	       << -sn  << 0   <<  cs  << 0
-	       <<  0   << 0   <<  0   << 1;
-
-    return rotate;
-}
-
-Matrix MatrixMath::RotZ( float radians )
-{
-    float cs = cos( radians );
-    float sn = sin( radians );
-
-    Matrix rotate( 4, 4 );
-
-    rotate << cs   << -sn  <<  0  << 0
-           << sn   <<  cs  <<  0  << 0
-	       <<  0   <<  0   <<  1  << 0
-	       <<  0   <<  0   <<  0  << 1;
-
-    return rotate;
-}
-
-
-Matrix MatrixMath::Transl( float x, float y, float z )
-{
-    Matrix Translation = MatrixMath::Eye( 3 );  //Identity Matrix
-    Matrix Position( 4, 1 );                   // Position Matrix
-
-    Position << x << y << z << 1;             // position @ x,y,z
-
-    Matrix::AddRow( Translation, 4 );             // Add Row
-    Matrix::AddCol( Translation, Position, 4 );  // Add Position Matrix
-
-    return Translation;
+/**
+ * @brief  Kinematics Operations
+ * @file   MatrixMath_Kinematics.cpp
+ * @author Erneseto Palacios
+ *
+ *  Develop Under  GPL v3.0 License
+ * http://www.gnu.org/licenses/gpl-3.0.html
+ */
+
+#include "mbed.h"
+#include "Matrix.h"
+#include "MatrixMath.h"
+
+
+Matrix MatrixMath::RotX( float radians )
+{
+    float cs = cos( radians );
+    float sn = sin( radians );
+
+    Matrix rotate( 4, 4 );
+
+    rotate << 1 << 0  <<  0  << 0
+	       << 0 << cs << -sn << 0
+	       << 0 << sn <<  cs << 0
+	       << 0 << 0  <<  0  << 1;
+
+    return rotate;
+
+}
+
+Matrix MatrixMath::RotY( float radians )
+{
+    float cs = cos( radians );
+    float sn = sin( radians );
+
+    Matrix rotate( 4, 4 );
+
+    rotate << cs   << 0   <<  sn  << 0
+	       <<  0   << 1   <<  0   << 0
+	       << -sn  << 0   <<  cs  << 0
+	       <<  0   << 0   <<  0   << 1;
+
+    return rotate;
+}
+
+Matrix MatrixMath::RotZ( float radians )
+{
+    float cs = cos( radians );
+    float sn = sin( radians );
+
+    Matrix rotate( 4, 4 );
+
+    rotate << cs   << -sn  <<  0  << 0
+           << sn   <<  cs  <<  0  << 0
+	       <<  0   <<  0   <<  1  << 0
+	       <<  0   <<  0   <<  0  << 1;
+
+    return rotate;
+}
+
+
+Matrix MatrixMath::Transl( float x, float y, float z )
+{
+    Matrix Translation = MatrixMath::Eye( 3 );  //Identity Matrix
+    Matrix Position( 4, 1 );                   // Position Matrix
+
+    Position << x << y << z << 1;             // position @ x,y,z
+
+    Matrix::AddRow( Translation, 4 );             // Add Row
+    Matrix::AddCol( Translation, Position, 4 );  // Add Position Matrix
+
+    return Translation;
 }
\ No newline at end of file