Geometry Library

The Geometry library provides geometric primitives for representing positions, orientations, translations, rotations and quaternions in 2D and 3D Euclidean spaces.

These types model the underlying algebra of the Special Euclidean group SE(n) and the Special Orthogonal group SO(n), and are used throughout Ninbot — including the POS Library — as the concrete coordinate quantity types.

Tutorials

Basic

Reference

General

Template Description

basic_quaternion<T>

Hamilton quaternion with arithmetic operators

R2

Template Description

R2::basic_position_qty<T>

2D position with length-dimensioned components

R2::basic_translation<T>

2D displacement that acts on positions

R2::basic_orientation_qty<T>

2D orientation stored as a unit complex number

R2::basic_rotation<T>

2D rotation that acts on orientations and positions

R3

Template Description

R3::basic_position_qty<T>

3D position with length-dimensioned components

R3::basic_translation<T>

3D displacement that acts on positions

R3::basic_orientation_qty<T>

3D orientation stored as a unit quaternion

R3::basic_rotation<T>

3D rotation that acts on orientations and positions