transformation.h File Reference

#include "point.h"
#include <vector>

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Namespaces
namespace	util
	Collection of methods useful in simulation.

Functions
Rotation
std::vector< double >	util::rotateCW2D (const std::vector< double > &x, const double &theta)
	Rotates a vector in xy-plane in clockwise direction.
util::Point	util::rotateCW2D (const util::Point &x, const double &theta)
	Rotates a vector in xy-plane in clockwise direction.
std::vector< double >	util::rotateACW2D (const std::vector< double > &x, const double &theta)
	Rotates a vector in xy-plane in anti-clockwise direction.
util::Point	util::rotateACW2D (const util::Point &x, const double &theta)
	Rotates a vector in xy-plane in anti-clockwise direction.
std::vector< double >	util::rotate2D (const std::vector< double > &x, const double &theta)
	Rotates a vector in xy-plane assuming ACW convention.
util::Point	util::rotate2D (const util::Point &x, const double &theta)
	Rotates a vector in xy-plane assuming ACW convention.
util::Point	util::derRotate2D (const util::Point &x, const double &theta)
	Computes derivative of rotation wrt to time.
util::Point	util::rotate (const util::Point &p, const double &theta, const util::Point &axis)
	Returns the vector after rotating by desired angle.
double	util::angle (util::Point a, util::Point b)
	Computes angle between two vectors.
double	util::angle (util::Point a, util::Point b, util::Point axis, bool is_axis=true)
	Computes angle between two vectors.