Subsections
A floatvector is a simple vector whose elements are specialized to
floating point numbers.
A floatvector can be of any size.
When result is specified in an argument list,
it should be a floatvector that holds the result.
floatvector &rest numbers [function]


makes a new floatvector whose elements are numbers.
Note the difference between (floatvector 1 2 3) and #F(1 2 3).
While the former create a vector each time it is called, the latter
does when it is read.
floatvectorp obj [function]


returns T if obj is a floatvector.
v+ fltvec1 fltvec2 &optional result [function]


adds two floatvectors.
v fltvec1 &optional fltvec2 result [function]


subtract floatvectors. If fltvec2 is omitted, fltvec1 is negated.
v. fltvec1 fltvec2 [function]


computes the inner product of two floatvectors.
v* fltvec1 fltvec2 &optional result [function]


computes the outer product of two floatvectors.
v.* fltvec1 fltvec2 fltvec3 [function]


computes the scaler triple product [A,B,C]=(V. A (V* B C))=(V. (V* A B) C).
v fltvec1 fltvec2 [function]


returns T if every element of fltvec1 is smaller than
the corresponding element of fltvec2.
v fltvec1 fltvec2 [function]


returns T if every element of fltvec1 is larger than
the corresponding element of fltvec2.
vmin &rest fltvec [function]


finds the smallest values for each dimension in fltvec,
and makes a floatvector from the values.
Vmin and vmax are used to find the minimal bounding box
from coordinates of vertices.
vmax &rest fltvec [function]


finds the greatest values for each dimension in fltvec,
and makes a floatvector from the values.
minimalbox vlist minvec maxvec &optional err [function]


computes the minimal bounding box for a given vertexlist,
and stores results in minvec and maxvec.
If a floating number err is specified, the minimal box is grown
by the ratio, i.e. if the err is 0.01, each element of minvec is decreased
by 1% of the distance between minvec and maxvec,
and each element of maxvec is increased by 1%.
Minimalbox returns the distance between minvec and maxvec.
scale number fltvec &optional result [function]


the scaler number is multiplied to the every element of fltvec.
norm fltvec [function]


norm2 fltvec [function]


normalizevector fltvec &optional result [function]


normalizes fltvec to have the norm 1.0.
distance fltvec1 fltvec2 [function]


returns the distance
between two floatvectors.
distance2 fltvec1 fltvec2 [function]


homo2normal homovec &optional normalvec [function]


A homogeneous vector homovec is converted to its normal representation.
homogenize normalvec &optional homovec [function]


A normal vector normalvec is converted to its homogenous representation.
midpoint p p1 p2 &optional result [function]


P is float, and p1 and p2 are floatvectors of the same
dimension.
A point
, which is the point
that breaks p1p2 by the ratio , is returned.
rotatevector fltvec theta axis &optional result [function]


rotates 2D or 3D fltvec by theta radian around axis.
Axis can be one of :x, :y, :z, 0, 1, 2 or NIL.
When axis is NIL, fltvec is taken to be two dimensional.
To rotate a vector around an arbitrary axis in 3D space,
make a rotation matrix by the rotationmatrix function and
multiply it to the vector.
A matrix is a twodimensional array whose elements are all floats.
In most functions a matrix can be of any size,
but the v*, v.*, Eulerangle and rpyangle functions
can only handle three dimensional matrices.
Transform, m* and transpose do not restrict
the matrices to be square,
and they operate on general n*m size matrices.
Functions that can accept result parameter
places the computed result there, and no heap is wasted.
All matrix functions are intended for the transformation in the normal
coordinate systems, and not in the homogeneous coordinates.
The rpyangle function decomposes a rotation matrix into three components
of rotation angles around z, y and x axes of the world coordinates.
The Eulerangle function is similar to rpyangle but
decomposes into rotation angles around local z, y and again z axes.
Both of these functions return two solutions since angles can be
taken in the opposite directions.
; Mat is a 3X3 rotation matrix.
(setq rots (rpyangle mat))
(setq r (unitmatrix 3))
(rotatematrix r (car rots) :x t r)
(rotatematrix r (cadr rots) :y t r)
(rotatematrix r (caddr rots) :z t r)
;> resulted r is equivalent to mat
To keep track of pairs of a position and a orientation in 3D space, use
the coordinates and cascadedcoords classes
detailed in the section 15.4.
matrix &rest elements [function]


makes a new matrix from elements.
Row x Col = (number of elements) x (length of the 1st element).
Each of elements can be of any type of sequence.
Each sequence is lined up as a row vector in the matrix.
makematrix rowsize columnsize &optional init [function]


makes a matrix of
.
matrixp obj [function]


T if obj is a matrix, i.e. obj is a two dimensional array
and its elements are floats.
matrixrow mat rowindex [function]


extracts a row vector out of matrix mat.
matrixrow is also used to set a vector in a particular row
of a matrix using in conjunction with setf.
matrixcolumn mat columnindex [function]


extracts a column vector out of mat.
matrixcolumn is also used to set a vector in a particular
column of a matrix using in conjunction with setf.
m* matrix1 matrix2 &optional result [function]


concatenates matrix1 and matrix2.
transpose matrix &optional result [function]


transposes matrix, i.e. columns of matrix are exchanged with
rows.
unitmatrix dim [function]


makes an identity matrix of dim dim.
replacematrix dest src [function]


replaces all the elements of dest matrix with ones of src matrix.
scalematrix scalar mat [function]


multiplies scaler to all the elements of mat.
copymatrix matrix [function]


makes a copy of matrix.
transform matrix fltvector &optional result [function]


multiplies matrix to fltvector from the left.
transform fltvector matrix &optional result [function]


multiplies matrix to fltvector from the right.
rotatematrix matrix theta axis &optional worldp result [function]


multiplies a rotation matrix from the left (when worldp is nonnil)
or from the right (when worldp is nil).
When a matrix is rotated by rotatematrix,
the rotation axis :x, :y, :z or 0,1,2
may be taken either in the world coordinates or in the local coordinates.
If worldp is specified nil, it means rotation along the
axis in the local coordinate system and the rotation matrix is multiplied
from the right.
Else if worldp is nonnil, the rotation is made in the
world coordinates and the rotation matrix is multiplied from the left.
If NIL is given to axis, matrix should be two dimensional and
the rotation is taken in 2D space where worldp does not make sense.
rotationmatrix theta axis &optional result [function]


makes a 2D or 3D rotation matrix around axis which can be any of
:x, :y, :z, 0, 1, 2, a 3D floatvector or NIL.
When you make a 2D rotation matrix, axis should be NIL.
rotationangle rotationmatrix [function]


extracts a equivalent rotation axis and angle from rotationmatrix
and a list of float and floatvector is returned.
NIL is returned when rotationmatrix is a unitmatrix.
Also if the rotation angle is too small, the result may have errors.
When rotationmatrix is 2D, the single angle value is returned.
rpymatrix angz angy angx [function]


makes a rotation matrix defined by rollpitchyaw angles.
First, a unitmatrix is rotated by angx radian along Xaxis.
Next, angy around Yaxis and finally angz around Zaxis.
All the rotation axes are taken in the world coordinates.
rpyangle matrix [function]


extracts two triplets of rollpitchyaw angles of matrix.
Eulermatrix angz angy ang2z [function]


makes a rotation matrix defined by three Euler angles.
First, a unitmatrix is rotated angz around Zaxis, next, angy
around Yaxis and finally ang2z again around Zaxis.
All the rotation axes are taken in the local coordinates.
Eulerangle matrix [function]


extracts two tuples of Euler angles.
ludecompose and lusolve are provided to solve
simultaneous linear equations.
First, ludecompose decomposes a matrix into a lower triangle matrix
and an upper triable matrix.
If the given matrix is singular, LUdecompose returns NIL, otherwise
it returns the permutation vector which should be supplied to LUsolve.
Lusolve computes the solution for a LU matrix with a given constant vector.
This method is efficient if solutions for many combinations
of different constant vectors and the same factor matrix are required.
Simultaneousequation would be more handy when you wish to get
only one solution.
Ludeterminant computes a determinant of a ludecomposed matrix.
Inversematrix function computes an inverse matrix using ludecompose
once, and lusolve n times.
Computation time for a 3*3 matrix is estimated to be 4 millisec.
ludecompose matrix &optional result [function]


performs ludecomposition of matrix.
lusolve lumat permvector bvector &optional result [function]


solves a linear simultaneous equations which has already been ludecomposed.
permvector should be the result returned by ludecompose.
ludeterminant lumat permvector [function]


computes the determinant value for a matrix which has already been
ludecomposed.
simultaneousequation mat vec [function]


solves a linear simultaneous equations whose coefficients are described in
mat and constant values in vec.
inversematrix mat [function]


makes the inverse matrix of the square matrix, mat.
pseudoinverse mat [function]


computes the pseudo inverse matrix using the singular value decomposition.
Coordinates
Coordinate systems and their transformations are represented by
the coordinates class.
Instead of 4*4 (homogeneous) matrix representation,
coordinate system in EusLisp is represented by a combination of
a 3*3 rotation matrix and a 3D position vector
mainly for speed and generality.
coordinates [class]
:super propertiedobject
:slots (pos :type floatvector
rot :type array)

 defines a coordinate system with a pair of a position vector and a 3x3
rotation matrix.
coordinatesp obj [function]


returns T when obj is an instance of coordinates class or its subclasses.
:rot [method]


returns the 3X3 rotation matrix of this coords.
:pos [method]


returns the 3D position vector of this coords.
:newcoords newrot &optional newpos [method]


updates the coords with newrot and newpos. Whenever a condition that changes
the state of this coords occurs,
this method should be called with the new rotation
matrix and the position vector.
This message may invoke another :update method to propagate the event.
If newpos is not given, newrot is given as a instance of coordinate class.
:replacecoords newrot &optional newpos [method]


changes the rot and pos slots to be updated without calling newcoords method.
If newpos is not given, newrot is given as a instance of coordinate class.
:coords [method]


:copycoords &optional dest [method]


If dest is not given, :copycoords makes another coordinates object
which has the same rot and pos slots. If dest is given, rot and pos of
this coordinates is copied to the dest coordinates.
:resetcoords [method]


forces the rotation matrix of this coords to be identity matrix, and pos
vector to be all zero.
:worldpos [method]


:worldrot [method]


:worldcoords [method]


Computes the position vector, the rotation matrix and the coordinates
of this object represented in the world coordinates. The coordinates class
is always assumed to be represented in world, these method can simply return
pos, rot and self. These methods are provided for the compatibility with
cascadedcoords class which cannot be assumed to be represented in world.
:copyworldcoords &optional dest [method]


First, worldcoords is computed, and it is copied to dest. If no dest
is specified, a coordinates object to store the result is newly created.
:rotatevector vec [method]


A vector is rotated by the rotation of this coords, i.e., an orientation
vector represented in this coords is converted to the representation
in the world.
The position of this coords does not affect rotation.
:transformvector vec [method]


A vector in this local coords is transformed to the representation in the world.
:inversetransformvector vec [method]


A vector in the world is inversely transformed to the representation in this
local coordinate system.
:transform trans &optional (wrt :local) [method]


Transform this coords by the trans represented in wrt coords.
Trans must be of type coordinates, and wrt must be one of keywords
:local, :parent, :world or an instance of coordinates.
If wrt is :local, the trans is applied from the right to this coords,
and if wrt is :world or :parent,
the trans is multiplied from the left.
Else, if wrt is of type coordinates, the trans represented in the wrt
coords is first transformed to the representation in the world, and it
is applied from the left.
:moveto trans &optional (wrt :local) [method]


Replaces the rot and pos of the coords with trans represented in wrt.
:translate p &optional (wrt :local) [method]


changes the position of this object
relatively with respective to wrt coords.
:locate p &optional (wrt :local) [method]


Changes the location of this coords with the parameter represented in wrt.
If wrt is :local, then the effect is identical to
:translate with wrt=:local.
:rotate theta axis &optional (wrt :local) [method]


Rotates this coords relatively by theta radian around the axis.
Axis is one of axiskeywords (:x, :y and :z) or an arbitrary floatvector.
Axis is considered to be represented in the wrt coords.
Thus, if wrt=:local and axis=:z,
the coordinates is rotated around the z
axis of this local coords, and wrt=:world or :parent,
the coords is rotated around the z axis of world coords.
In other words, if wrt=:local,
a rotation matrix is multiplied from the right of this coords,
and if wrt=:world or :parent,
a rotation matrix is multiplied from the left.
Note that even wrt is either :world or :parent,
the pos vector of this coordinates does not change.
For the true rotation around the world axis,
an instance of coordinates class representing the
rotation should be given to :transform method.
:orient theta axis &optional (wrt :local) [method]


forces setting rot.
This is an absolute version of :rotate method.
:inversetransformation [method]


makes a new coords that is inverse to self.
:transformation coords (wrt :local) [method]


makes the transformation (an instance of coordinates) between this coords
and the coords given as the argument.
If wrt=:local,
the result is represented in local coords,
i.e., if the resulted transformation is given
as an argument to :transform with wrt=:local,
this coords is transformed
to be identical with the coords.
:Euler az1 ay az2 [method]


sets rot with Euler angles, that are,
rotation angles around z (az1,
y (ay) and again z az2 axis of
this local coordinates system.
:rollpitchyaw roll pitch yaw [method]


sets rot with rollpitchyaw angles:
rotation angles around x (yaw), y (pitch) and z (roll)
axes of the world coordinate system.
:4x4 &optional mat44 [method]


If a matrix of 4x4 is given as mat44,
it is converted to coordinates representation with a 3x3 rotation matrix and
a 3D position vector.
If mat44 is not given, this coordinates is converted to 4x4
matrix representation.
:init [method]
&key (pos #f(0 0 0))
(rot #2f((1 0 0) (0 1 0) (0 0 1)))
rpy ; roll pitch yaw
euler ; az ay az2
axis ; rotationaxis
angle ; rotationangle
4X4 ; 4x4 matrix
coords ; another coordinates
properties ; list of (ind . value) pair
name ; name property

 initializes this coordinates object and sets rot and pos.
The meaning of each keyword follows:
 :dimension
 2 or 3 (default is 3)
 :pos
 specifies a position vector (defaulted to #f(0 0 0))
 :rot
 specifies a rotation matrix (defaulted to a unitmatrix)
 :euler
 gives a sequence of three elements for Euler angles
 :rpy
 gives a sequence of three elements for rollpitchyaw
 :axis
 rotation axis (:x,:y,:z or an arbitrary floatvector)
 :angle
 rotation angle (used with :axis)
 :wrt
 where the rotation axis is taken (default is :local)
 :4X4
 4X4 matrix is used to specify both pos and rot
 :coords
 copies pos and rot from coords
 :name
 set :name property
:Angle can only be used in conjunction with the :axis
that is determined in the :wrt coordinates.
Without regard to :wrt, :Euler always specifies
the Euler angles, az1, ay and az2,
defined in the local coordinates,
and :rpy specifies the angles around
z, y and x axes of the world coordinates.
Two or more of :rot, :Euler, :rpy, :axis and :4X4
cannot be specified simultaneously, although no error is reported.
Sequences can be supplied to the :axis and :angle parameters,
which mean successive rotations around the given axes.
List of pairs of an attribute and its value can be given as :properties
argument. These pairs are copied in the plist of this coordinates.
cascadedcoords [class]
:super coordinates
:slots (parent descendants worldcoords manager changed)

 defines a linked coordinates. Cascadedcoords is often abbreviated
as cascoords.
:inheritance [method]


returns the inheritance tree list describing all the descendants of the
cascoords.
If a and b are the direct descendants of this coords,
and c is a descendant of a, ((a (c)) (b)) is returned.
:assoc childcoords &optional relativecoords [method]


childcoords is associated to this cascoords as a descendant.
If childcoords has been already assoc'ed to some other cascoords, first
childcoords is dissoc'ed since each cascoords can have only one parent.
The orientation or location of childcoords in the world does not change.
:dissoc childcoords [method]


dissociates (removes) childcoords from the descendants list of this coords.
The orientation or location of childcoords in the world does not change.
:changed [method]


informs this coords that the coordinates of parent has changed,
and the recomputation of worldcoords is needed when it is requested later.
:update [method]


is called by the :worldcoords method
to recompute the current worldcoord.
:worldcoords [method]


returns a coordinates object which represents this coord in the world
by concatenating all the cascoords from the root to this coords.
The result is held in this object and reused later.
Thus, you should not modify the resulted coords.
:worldpos [method]


returns rot of this coordinates represented in the world.
:worldrot [method]


returns pos of this coordinates represented in the world.
:transformvector vec [method]


Regarding vec represented in this local coords,
transforms it to the representation in the world.
:inversetransformvector vec [method]


vec represented in the world is inversely transformed into the
representation in this local coords.
:inversetransformation [method]


makes an instance of coordinates which represents inverse transformation
of this coord.
:transform trans &optional (wrt :local) [method]


:translate fltvec &optional (wrt :local) [method]


:locate fltvec &optional (wrt :local) [method]


:rotate theta axis &optional (wrt :local) [method]


:orient theta axis &optional (wrt :local) [method]


Refer to the descriptions in class coordinates.
makecoords &key pos rot rpy Euler angle axis 4X4 coords name [function]


makecascoords &key pos rot rpy Euler angle axis 4X4 coords name [function]


coords &key pos rot rpy Euler angle axis 4X4 coords name [function]


cascoords &key pos rot rpy Euler angle axis 4X4 coords name [function]


All these functions make new coordinates or cascadedcoordinates.
For the keyword parameter, see :init method of class coordinates.
transformcoords coords1 coords2 &optional (coords3 (coords)) [function]


Coords1 is applied (multiplied) to the coords2 from the left.
The product is stored in coords3.
transformcoords* &rest coords [function]


concatenates transformations listed in coords.
An instance of coordinates that represents the concatenated transformation
is returned.
wrt coords vec [function]


transforms vec into the representation in coords.
The result is equivalent to
(send coords :transformvector vec).
Relationship between transformation matrix and coordinates class is described,
where a transformation matrix T represents a (homogeneous) matrix as below.
is a matrix, and
is a matrix
(a floatvector which has 3 elements in euslisp).
Coordinates class has
slot variables rot and pos. They are
and
respectively.
and
can be obtained using methods of the coordinates class.
T is an instance of the coordinate class.
(send T :rot)


(send T :pos)


is 3D position vector.
(send T :rotatevector
)


(send T :inverserotatevector
)


(send T :transformvector
)


Converts a vector represented in a local coordinate system T
to a vector represented in the world coordinate system.
(send T :inversetransformvector
)


Converts a vector represented in the world coordinate system.
to a vector represented in a local coordinate system T.
(send T :inversetransformation)


Returns inverse matrix.
(send T :transformation A (&optional (wrt :local)))


when wrt == :local, is returned.
when wrt == :world, is returned.
when wrt == W (coordinates class),
is returned.
A is an instance of the coordinates class.
represents that
slot variables (pos or rot) refer to a given instance (matrix or float vector).
Please note that when one is changed, the other also reflects the change.
represents substitution.
(send T :newcoords A)


(send T :newcoords
)


(send T :moveto A (&optional (wrt :local)))


when wrt == :local,
when wrt == :world,
when wrt == W (coordinates class),
(send T :translate
(&optional (wrt :local)))


when wrt == :local,
when wrt == :world,
when wrt == W (coordinates class),
(send T :locate
(&optional (wrt :local)))


when wrt == :local,
when wrt == :world,
when wrt == W (coordinates class),
(send T :transform A (&optional (wrt :local)))


when wrt == :local,
when wrt == :world,
when wrt == W (coordinates class),
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