isam::Rot3d Class Reference

#include <Rot3d.h>

List of all members.

Public Member Functions
Rot3d	exmap (const Eigen::VectorXd &delta) const
Eigen::Matrix3d	oRw () const
double	pitch () const
Eigen::Quaterniond	quaternion () const
double	roll () const
	Rot3d ()
	Rot3d (const Eigen::Quaterniond &quat)
	Rot3d (double yaw, double pitch, double roll)
	Rot3d (const Eigen::Matrix3d &wRo)
void	set (double yaw, double pitch, double roll)
void	set_pitch (double pitch)
void	set_roll (double roll)
void	set_yaw (double yaw)
double	w () const
void	write (std::ostream &out) const
const Eigen::Matrix3d &	wRo () const
double	x () const
double	y () const
double	yaw () const
void	ypr (double &yaw, double &pitch, double &roll) const
double	z () const
Static Public Member Functions
static Eigen::Quaterniond	delta3_to_quat (const Eigen::Vector3d &delta)
static Eigen::Quaterniond	euler_to_quat (double yaw, double pitch, double roll)
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix3d	euler_to_wRo (double yaw, double pitch, double roll)
static const char *	name ()
static void	quat_to_euler (Eigen::Quaterniond q, double &yaw, double &pitch, double &roll)
static Eigen::Matrix3d	quat_to_wRo (const Eigen::Quaterniond &quat)
static void	wRo_to_euler (const Eigen::Matrix3d &wRo, double &yaw, double &pitch, double &roll)
static Eigen::Quaterniond	wRo_to_quat (const Eigen::Matrix3d &wRo)
Static Public Attributes
static const int	dim = 3
static const int	size = 4
Private Member Functions
void	ensure_ypr () const
Private Attributes
double	_pitch
Eigen::Quaterniond	_quat
double	_roll
Eigen::Matrix3d	_wRo
bool	_wRo_cached
double	_yaw
bool	_ypr_cached
Friends
std::ostream &	operator<< (std::ostream &out, const Rot3d &p)

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Detailed Description

For conventions, see isam::Pose3d.h

Definition at line 46 of file Rot3d.h.

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Constructor & Destructor Documentation

isam::Rot3d::Rot3d

(

)

[inline]

Definition at line 177 of file Rot3d.h.

isam::Rot3d::Rot3d

(

const Eigen::Quaterniond &

quat

)

[inline]

Definition at line 181 of file Rot3d.h.

isam::Rot3d::Rot3d	(	double	yaw,
		double	pitch,
		double	roll
	)		[inline]

Definition at line 183 of file Rot3d.h.

isam::Rot3d::Rot3d

(

const Eigen::Matrix3d &

wRo

)

[inline]

Definition at line 187 of file Rot3d.h.

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Member Function Documentation

static Eigen::Quaterniond isam::Rot3d::delta3_to_quat

(

const Eigen::Vector3d &

delta

)

[inline, static]

Definition at line 126 of file Rot3d.h.

void isam::Rot3d::ensure_ypr

(

)

const [inline, private]

Definition at line 166 of file Rot3d.h.

static Eigen::Quaterniond isam::Rot3d::euler_to_quat	(	double	yaw,
		double	pitch,
		double	roll
	)		[inline, static]

Definition at line 100 of file Rot3d.h.

static EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix3d isam::Rot3d::euler_to_wRo	(	double	yaw,
		double	pitch,
		double	roll
	)		[inline, static]

Definition at line 55 of file Rot3d.h.

Rot3d isam::Rot3d::exmap

(

const Eigen::VectorXd &

delta

)

const [inline]

Definition at line 229 of file Rot3d.h.

static const char* isam::Rot3d::name

(

)

[inline, static]

Definition at line 139 of file Rot3d.h.

Eigen::Matrix3d isam::Rot3d::oRw

(

)

const [inline]

Return inverse rotation by transeposing.

Returns:

oRw

Definition at line 276 of file Rot3d.h.

double isam::Rot3d::pitch

(

)

const [inline]

Definition at line 205 of file Rot3d.h.

static void isam::Rot3d::quat_to_euler	(	Eigen::Quaterniond	q,
		double &	yaw,
		double &	pitch,
		double &	roll
	)		[inline, static]

Definition at line 114 of file Rot3d.h.

static Eigen::Matrix3d isam::Rot3d::quat_to_wRo

(

const Eigen::Quaterniond &

quat

)

[inline, static]

Definition at line 96 of file Rot3d.h.

Eigen::Quaterniond isam::Rot3d::quaternion

(

)

const [inline]

Definition at line 256 of file Rot3d.h.

double isam::Rot3d::roll

(

)

const [inline]

Definition at line 206 of file Rot3d.h.

void isam::Rot3d::set	(	double	yaw,
		double	pitch,
		double	roll
	)		[inline]

Definition at line 219 of file Rot3d.h.

void isam::Rot3d::set_pitch

(

double

pitch

)

[inline]

Definition at line 216 of file Rot3d.h.

void isam::Rot3d::set_roll

(

double

roll

)

[inline]

Definition at line 217 of file Rot3d.h.

void isam::Rot3d::set_yaw

(

double

yaw

)

[inline]

Definition at line 215 of file Rot3d.h.

double isam::Rot3d::w

(

)

const [inline]

Definition at line 202 of file Rot3d.h.

void isam::Rot3d::write

(

std::ostream &

out

)

const [inline]

Definition at line 194 of file Rot3d.h.

const Eigen::Matrix3d& isam::Rot3d::wRo

(

)

const [inline]

Generate 3x3 rotation matrix from Rot3d.

Returns:

wRo

Definition at line 264 of file Rot3d.h.

static void isam::Rot3d::wRo_to_euler	(	const Eigen::Matrix3d &	wRo,
		double &	yaw,
		double &	pitch,
		double &	roll
	)		[inline, static]

Definition at line 84 of file Rot3d.h.

static Eigen::Quaterniond isam::Rot3d::wRo_to_quat

(

const Eigen::Matrix3d &

wRo

)

[inline, static]

Definition at line 92 of file Rot3d.h.

double isam::Rot3d::x

(

)

const [inline]

Definition at line 199 of file Rot3d.h.

double isam::Rot3d::y

(

)

const [inline]

Definition at line 200 of file Rot3d.h.

double isam::Rot3d::yaw

(

)

const [inline]

Definition at line 204 of file Rot3d.h.

void isam::Rot3d::ypr	(	double &	yaw,
		double &	pitch,
		double &	roll
	)		const [inline]

Definition at line 208 of file Rot3d.h.

double isam::Rot3d::z

(

)

const [inline]

Definition at line 201 of file Rot3d.h.

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	out,
		const Rot3d &	p
	)		[friend]

Definition at line 47 of file Rot3d.h.

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Member Data Documentation

double isam::Rot3d::_pitch [mutable, private]

Definition at line 162 of file Rot3d.h.

Eigen::Quaterniond isam::Rot3d::_quat [private]

Definition at line 154 of file Rot3d.h.

double isam::Rot3d::_roll [mutable, private]

Definition at line 163 of file Rot3d.h.

Eigen::Matrix3d isam::Rot3d::_wRo [mutable, private]

Definition at line 159 of file Rot3d.h.

bool isam::Rot3d::_wRo_cached [mutable, private]

Definition at line 158 of file Rot3d.h.

double isam::Rot3d::_yaw [mutable, private]

Definition at line 161 of file Rot3d.h.

bool isam::Rot3d::_ypr_cached [mutable, private]

Definition at line 160 of file Rot3d.h.

const int isam::Rot3d::dim = 3 [static]

Definition at line 138 of file Rot3d.h.

const int isam::Rot3d::size = 4 [static]

Definition at line 175 of file Rot3d.h.

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

• Rot3d.h