aa_tf_tfmat Struct Reference

Memory layout for a transformation matrix. More...

#include <tf.h>

Inheritance diagram for aa_tf_tfmat:

Public Attributes
union {
struct {
double   R [9]
	the rotation matrix part
aa_tf_vec3_t   v
	the origin vector part
}
double   data [12]
	data array
};

Detailed Description

Memory layout for a transformation matrix.

It is a column-major matrix, but the bottom row is omitted because this row is the same for all SE(3) transformation matrices.

The first 9 elements are a column major rotation matrix. The last 3 elements are the origin vector.

Definition at line 240 of file tf.h.

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

• amino/tf.h