algebra.pl -- Performing algebraic operations.

author

- Daniel Beßler

license

- BSD

 transform_multiply(+Transform1:term, +Transform2:term, ?Product:term) is semidet

True if Product is Transform1 x Transform2. This is only defined if the target frame of Transform1 is equal to the reference frame of Transform2.

Arguments:

Transform1	- A Prolog term [Ref,A,Pos1,Rot1]
Transform2	- A Prolog term [A,Src,Pos2,Rot2]
Product	- A Prolog term [Ref,Src,Pos3,Rot3]

 transform_between(+Transform1:term, +Transform2:term, ?Relative:term) is semidet

True if Relative is the relative transform between the target frame of Transform1 and Transform2. Only defined if Transform1 and Transform2 share the same reference frame.

Arguments:

Transform1	- A Prolog term [F,Src,Pos1,Rot1]
Transform2	- A Prolog term [F,Ref,Pos2,Rot2]
Transform1	- A Prolog term [Ref,Src,Pos3,Rot3]

 transform_invert(+Transform:term, ?Inverted:term) is det

True if Inverted is the inverted transform of Transform (i.e., with inverted reference and source frame).

Arguments:

Transform	- A transform term [A,B,Pos,Rot]
Inverted	- A transform term [B,A,Pos',Rot']

 transform_close_to(+Transform1:term, +Transform2:term, +Delta:number) is semidet

True if the squared distance between Transform1 and Transform2 is less then or equal to Delta.

Arguments:

Transform1	- Transform term
Transform2	- Transform term
Delta	- Squared distance delta

 matrix(?Matrix:list, ?Translation:list, ?Quaternion:list) is semidet

True if Matrix is the transformation matrix build from Translation and Quaternion.

Arguments:

Matrix	- A 4x4 matrix
Translation	- A translation [number x,y,z]
Quaternion	- A quaternion [number qx,qy,qz,qw]

 matrix_translate(+In:list, +Offset:list, ?Out:list) is semidet

True if Out unifies with In translated by Offset.

Arguments:

In	- A 4x4 matrix
Offset	- The offset [number x,y,z]
Out	- A 4x4 matrix

 quaternion_multiply(+Quaternion1:list, +Quaternion2:list, ?Multiplied:list) is semidet

True if Multiplied is the result of multiplying Quaternion1 with Quaternion2.

Arguments:

Quaternion1	- A quaternion [number qx,qy,qt,qw]
Quaternion2	- A quaternion [number qx,qy,qt,qw]
Multiplied	- A quaternion [number qx,qy,qt,qw]

Undocumented predicates

The following predicates are exported, but not or incorrectly documented.

 quaternion_transform(Arg1, Arg2, Arg3)

 quaternion_inverse(Arg1, Arg2)

 transform_interpolate(Arg1, Arg2, Arg3, Arg4)