Lightweight Robot Utility Library
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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.

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