rml::EulerRPY Class Reference

Euler RPY angle representation. More...

#include <EulerRPY.h>

Public Member Functions
	EulerRPY ()
	EulerRPY (double roll, double pitch, double yaw)
	EulerRPY (Eigen::Vector3d vec3)
	EulerRPY (Eigen::Quaterniond q)
virtual	~EulerRPY ()
auto	Yaw () const -> double
auto	Yaw (double yaw) -> void
auto	Pitch () const -> double
auto	Pitch (double pitch) -> void
auto	Roll () const -> double
auto	Roll (double roll) -> void
auto	RPY (double roll, double pitch, double yaw) -> void
auto	RPY (Eigen::Vector3d rpy) -> void
auto	ToVector () const -> Eigen::Vector3d
Eigen::RotationMatrix	ToRotationMatrix () const
Eigen::Vector3d	Derivative (const Eigen::Vector3d &omega) const
	GetDerivative computes the euler rates (derivative) of 'this', given the angular velocity omega of the frame. Omega is interpreted as projected on the frame itself (body) and not the inertial frame.
Eigen::Vector3d	Omega (const Eigen::Vector3d &rpyDerivarives) const
	GetOmega computes the angular velocity of the frame given euler rates (derivative) of 'this', Omega is projected on the frame itself (body) and not the inertial frame.
Eigen::Quaterniond	ToQuaternion () const

Friends
std::ostream &	operator<< (std::ostream &os, EulerRPY const &a)

Detailed Description

Euler RPY angle representation.

This class stores the orientation of a rigid body in terms of the roll, pitch and yaw rotation. The order in which the rotation are applied follows the z-y-x convention: rotate around yaw, then pitch, then roll.

Constructor & Destructor Documentation

EulerRPY() [1/4]

rml::EulerRPY::EulerRPY

(

)

EulerRPY() [2/4]

rml::EulerRPY::EulerRPY	(	double	roll,
		double	pitch,
		double	yaw
	)

EulerRPY() [3/4]

rml::EulerRPY::EulerRPY

(

Eigen::Vector3d

vec3

)

EulerRPY() [4/4]

rml::EulerRPY::EulerRPY

(

Eigen::Quaterniond

q

)

~EulerRPY()

virtual rml::EulerRPY::~EulerRPY ( )

virtual

Member Function Documentation

Derivative()

Eigen::Vector3d rml::EulerRPY::Derivative

(

const Eigen::Vector3d &

omega

)

const

GetDerivative computes the euler rates (derivative) of 'this', given the angular velocity omega of the frame. Omega is interpreted as projected on the frame itself (body) and not the inertial frame.

Parameters

[in]

omega

Returns

the derivative of this

Omega()

Eigen::Vector3d rml::EulerRPY::Omega

(

const Eigen::Vector3d &

rpyDerivarives

)

const

GetOmega computes the angular velocity of the frame given euler rates (derivative) of 'this', Omega is projected on the frame itself (body) and not the inertial frame.

Parameters

[in]

rpyDerivatives

of this

Returns

omega

Pitch() [1/2]

auto rml::EulerRPY::Pitch ( ) const -> double

inline

Pitch() [2/2]

auto rml::EulerRPY::Pitch ( double  pitch ) -> void

inline

Roll() [1/2]

auto rml::EulerRPY::Roll ( ) const -> double

inline

Roll() [2/2]

auto rml::EulerRPY::Roll ( double  roll ) -> void

inline

RPY() [1/2]

auto rml::EulerRPY::RPY ( double  roll, double  pitch, double  yaw  ) -> void

inline

RPY() [2/2]

auto rml::EulerRPY::RPY ( Eigen::Vector3d  rpy ) -> void

inline

ToQuaternion()

Eigen::Quaterniond rml::EulerRPY::ToQuaternion

(

)

const

ToRotationMatrix()

Eigen::RotationMatrix rml::EulerRPY::ToRotationMatrix

(

)

const

ToVector()

auto rml::EulerRPY::ToVector ( ) const -> Eigen::Vector3d

inline

Yaw() [1/2]

auto rml::EulerRPY::Yaw ( ) const -> double

inline

Yaw() [2/2]

auto rml::EulerRPY::Yaw ( double  yaw ) -> void

inline

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, EulerRPY const &  a  )

friend

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The documentation for this class was generated from the following file:

• EulerRPY.h