# Matrices, Vectors & Algebra

The rw::math namespace includes many math types for representing different types of vectors. Math types in RobWork are based on Eigen 3.

## Notation

In general a diagonal notation form will be used to describe the relation of vectors, rotation matrices, homogeneous transform, velocity screw, and so on.

Expression |
Description |
---|---|

\({}^{a}{\mathbf{P}}\) |
Vector P seen in frame |

\({}^{a}{b}_{\mathbf{P}}\) |
Translation of frame |

\({}^{a}{b}_{\mathbf{R}}\) |
Rotation of frame |

\({}^{a}{b}_{\mathbf{T}}\) |
Homogeneous transform of frame |

\({}^{a}_{b}{\mathbf{T}_v}^{c}_{d}\) |
Velocity transform that transforms the reference frame from
b to a and the velocity reference point from c to d |

\({}^{a}_{b}{\mathbf{T}_f}^{c}_{d}\) |
Force transform that transforms the reference frame from
b to a and the force reference point from c to d |

\({}^{a}{b}_{\mathbf{J}}\) |
A Jacobian matrix defined from reference frame |

When coordinate frames are visualized the axes are illustrated with the colors RGB, such that Red(x-axis), Green(y-axis) and Blue(z-axis).

## Jacobians

Note

Documentation is being written…

## Polynomials

Note

Documentation is being written…

## Singular Value Decomposition (SVD)

Note

Documentation is being written…

## Linear Algebra

Note

Documentation is being written…

## Polynomials

Note

Documentation is being written…