Basic structures and conversion utilities for common math entites. More...

Modules
	Matrix conventions and bit flags

Namespaces
	osvr::util::eigen_interop
	Namespace containing const_map() and map() function implementations/overloads to allow easy interoperation of OSVR types and Eigen types.

Classes
struct	OSVR_Pose3
	A structure defining a 3D (6DOF) rigid body pose: translation and rotation. More...

struct	OSVR_Quaternion
	A structure defining a quaternion, often a unit quaternion representing 3D rotation. More...

struct	OSVR_RadialDistortionParameters
	Parameters for a per-color-component radial distortion shader. More...

struct	OSVR_Vec2
	A structure defining a 2D vector, which represents position. More...

struct	OSVR_Vec3
	A structure defining a 3D vector, often a position/translation. More...

Macros
#define	OSVR_QUAT_MEMBER(COMPONENT, INDEX)

#define	OSVR_VEC_MEMBER(COMPONENT, INDEX)

#define	OSVR_VEC_MEMBER(COMPONENT, INDEX)

Typedefs
typedef struct OSVR_Pose3	OSVR_Pose3
	A structure defining a 3D (6DOF) rigid body pose: translation and rotation.

typedef struct OSVR_Quaternion	OSVR_Quaternion
	A structure defining a quaternion, often a unit quaternion representing 3D rotation.

typedef struct OSVR_RadialDistortionParameters	OSVR_RadialDistortionParameters
	Parameters for a per-color-component radial distortion shader.

typedef struct OSVR_Vec2	OSVR_Vec2
	A structure defining a 2D vector, which represents position.

typedef struct OSVR_Vec3	OSVR_Vec3
	A structure defining a 3D vector, often a position/translation.

Functions
Eigen::Map< Eigen::Vector3d >	osvr::util::vecMap (OSVR_Vec3 &vec)
	Wrap an OSVR_Vec3 in an Eigen object that allows it to interoperate with Eigen as though it were an Eigen::Vector3d. More...

Eigen::Map< const Eigen::Vector3d >	osvr::util::vecMap (OSVR_Vec3 const &vec)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. For constant vectors. More...

Eigen::Quaterniond	osvr::util::fromQuat (OSVR_Quaternion const &q)
	Convert an OSVR_Quaternion to an Eigen::Quaterniond.

void	osvr::util::toQuat (Eigen::Quaterniond const &src, OSVR_Quaternion &q)
	Convert an Eigen::Quaterniond to a OSVR_Quaternion.

Eigen::Isometry3d	osvr::util::fromPose (OSVR_Pose3 const &pose)
	Turn an OSVR_Pose3 into an Eigen::Transform. More...

void	osvr::util::toPose (Eigen::Isometry3d const &xform, OSVR_Pose3 &pose)
	Turn an Eigen::Isometry3d (transform) into an OSVR_Pose3. More...

void	osvr::util::toPose (Eigen::Matrix4d const &mat, OSVR_Pose3 &pose)
	Turn an Eigen::Matrix4d (transform) into an OSVR_Pose3. More...

OSVR_UTIL_EXPORT OSVR_ReturnCode	osvrPose3ToMatrixd (OSVR_Pose3 const pose, OSVR_MatrixConventions flags, double mat)
	Set a matrix of doubles based on a Pose3. More...

OSVR_UTIL_EXPORT OSVR_ReturnCode	osvrPose3ToMatrixf (OSVR_Pose3 const pose, OSVR_MatrixConventions flags, float mat)
	Set a matrix of floats based on a Pose3. More...

OSVR_INLINE void	osvrPose3SetIdentity (OSVR_Pose3 *pose)
	Set a pose to identity.

OSVR_INLINE void	osvrQuatSetIdentity (OSVR_Quaternion *q)
	Set a quaternion to the identity rotation.

OSVR_INLINE void	osvrQuatToQuatlib (q_type dest, OSVR_Quaternion const *src)

OSVR_INLINE void	osvrQuatFromQuatlib (OSVR_Quaternion *dest, q_type const src)

OSVR_INLINE void	osvrVec3ToQuatlib (q_vec_type dest, OSVR_Vec3 const *src)

OSVR_INLINE void	osvrVec3FromQuatlib (OSVR_Vec3 *dest, q_vec_type const src)

OSVR_INLINE void	osvrPose3ToQuatlib (q_xyz_quat_type dest, OSVR_Pose3 const src)

OSVR_INLINE void	osvrPose3FromQuatlib (OSVR_Pose3 dest, q_xyz_quat_type const src)

OSVR_INLINE void	osvrVec2Zero (OSVR_Vec2 *v)
	Set a Vec2 to the zero vector.

OSVR_INLINE void	osvrVec3Zero (OSVR_Vec3 *v)
	Set a Vec3 to the zero vector.

Variables
OSVR_Vec3	OSVR_RadialDistortionParameters::k1
	Vector of K1 coefficients for the R, G, B channels.

OSVR_Vec2	OSVR_RadialDistortionParameters::centerOfProjection
	Center of projection for the radial distortion, relative to the bounds of this surface.

Detailed Description

Basic structures and conversion utilities for common math entites.

This is not intended to be a full math library. It is expected that you convert the values in these structures into your own math types. If you do not yet have a math library, Eigen is highly recommended.

Macro Definition Documentation

§ OSVR_QUAT_MEMBER

#define OSVR_QUAT_MEMBER	(	COMPONENT,
		INDEX
	)

Value:

                  \
    OSVR_INLINE double osvrQuatGet##COMPONENT(OSVR_Quaternion const *q) {      \
        return q->data[INDEX];                                                 \
    }                                                                          \                    \
    OSVR_INLINE void osvrQuatSet##COMPONENT(OSVR_Quaternion *q, double val) {  \
        q->data[INDEX] = val;                                                  \
    }

§ OSVR_VEC_MEMBER [1/2]

#define OSVR_VEC_MEMBER	(	COMPONENT,
		INDEX
	)

Value:

                        \
    OSVR_INLINE double osvrVec3Get##COMPONENT(OSVR_Vec3 const *v) {            \
        return v->data[INDEX];                                                 \
    }                                                                          \                          \
    OSVR_INLINE void osvrVec3Set##COMPONENT(OSVR_Vec3 *v, double val) {        \
        v->data[INDEX] = val;                                                  \
    }

§ OSVR_VEC_MEMBER [2/2]

#define OSVR_VEC_MEMBER	(	COMPONENT,
		INDEX
	)

Value:

                        \
    OSVR_INLINE double osvrVec2Get##COMPONENT(OSVR_Vec2 const *v) {            \
        return v->data[INDEX];                                                 \
    }                                                                          \                          \
    OSVR_INLINE void osvrVec2Set##COMPONENT(OSVR_Vec2 *v, double val) {        \
        v->data[INDEX] = val;                                                  \
    }

Function Documentation

§ fromPose()

Eigen::Isometry3d osvr::util::fromPose ( OSVR_Pose3 const & pose )

inline

Turn an OSVR_Pose3 into an Eigen::Transform.

Parameters

pose	Input pose

Returns: an Eigen::Isometry3d (convertible to an Eigen::Affine3d) 3-dimensional transform object equivalent to pose.

§ osvrPose3ToMatrixd()

OSVR_UTIL_EXPORT OSVR_ReturnCode osvrPose3ToMatrixd	(	OSVR_Pose3 const *	pose,
		OSVR_MatrixConventions	flags,
		double *	mat
	)

Set a matrix of doubles based on a Pose3.

Parameters

	pose	The Pose3 to convert
	flags	Memory ordering flag - see Matrix flags
[out]	mat	an array of 16 doubles

§ osvrPose3ToMatrixf()

OSVR_UTIL_EXPORT OSVR_ReturnCode osvrPose3ToMatrixf	(	OSVR_Pose3 const *	pose,
		OSVR_MatrixConventions	flags,
		float *	mat
	)

Set a matrix of floats based on a Pose3.

Parameters

	pose	The Pose3 to convert
	flags	Memory ordering flag - see Matrix flags
[out]	mat	an array of 16 floats

§ toPose() [1/2]

void osvr::util::toPose	(	Eigen::Isometry3d const &	xform,
		OSVR_Pose3 &	pose
	)

inline

Turn an Eigen::Isometry3d (transform) into an OSVR_Pose3.

Parameters

[in]	xform	Input transform.
[out]	pose	Destination to set based on xform.

§ toPose() [2/2]

void osvr::util::toPose	(	Eigen::Matrix4d const &	mat,
		OSVR_Pose3 &	pose
	)

inline

Turn an Eigen::Matrix4d (transform) into an OSVR_Pose3.

Parameters

[in]	mat	Input transform. Assumed to contain only position and orientation.
[out]	pose	Destination to set based on xform.

§ vecMap() [1/2]

Eigen::Map<Eigen::Vector3d> osvr::util::vecMap ( OSVR_Vec3 & vec )

inline

Wrap an OSVR_Vec3 in an Eigen object that allows it to interoperate with Eigen as though it were an Eigen::Vector3d.

Parameters

vec	A vector to wrap

Returns: an Eigen::Map allowing use of the OSVR_Vec3 as an Eigen::Vector3d.

§ vecMap() [2/2]

Eigen::Map<const Eigen::Vector3d> osvr::util::vecMap ( OSVR_Vec3 const & vec )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. For constant vectors.

Modules

Namespaces

Classes

Macros

Typedefs

Functions

Variables

Detailed Description

Macro Definition Documentation

§ OSVR_QUAT_MEMBER

§ OSVR_VEC_MEMBER [1/2]

§ OSVR_VEC_MEMBER [2/2]

Function Documentation

§ fromPose()

§ osvrPose3ToMatrixd()

§ osvrPose3ToMatrixf()

§ toPose() [1/2]

§ toPose() [2/2]

§ vecMap() [1/2]

§ vecMap() [2/2]