orocos-kdl中文注释之Geometric primitives(Vector+Rotation=Frame))

Vector是代表滑动的3x1矩阵，Rotation是代表转动的3x3矩阵，Frame是结合两者信息的4x4矩阵

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KDL::Vector

Browse KDL API Documentation

A Vector is a 3x1 matrix containing X-Y-Z coordinate values. It is used for representing: 3D position of a point wrt a reference frame, rotational and translational part of a 6D motion or force entity : <equation id="vector"><equation>

Creating Vectors

<equation>
Creating Rotations
Safe ways to create a Rotation
The following result always in consistent Rotations. This means the rows/columns are always normalized and orthogonal:
<equation>
Creating Frames
  f1==f2;  f1!=f2;  Equal(f1,f2,eps);