Euler parameter class. More...

#include <fEulerPara.h>

Inheritance diagram for fEulerPara:

Public Member Functions
double &	Ang ()
	Access the scalar part (cos(theta/2))
double	Ang () const
	Access the scalar part (cos(theta/2))
void	angvel2epdot (const fEulerPara &_ep, const fVec3 &_omega)
	Convert angular velocity to Euler parameter veclotiy.
fVec3 &	Axis ()
	Access the vector part (a*sin(theta/2))
const fVec3 &	Axis () const
	Access the vector part (a*sin(theta/2))
	fEulerPara ()
	Default constructor.
	fEulerPara (const fVec3 &v, double s)
	Constructor specifying vector and scalar parts.
	fEulerPara (double s1, double s2, double s3, double s4)
	Constructor specifying the four elements; scalar part is `s4`.
void	identity ()
	Set identity (no rotation).
void	interpolate (const fEulerPara &ep1, const fEulerPara &ep2, double t)
	SLERP interpolation: interpolates `ep1` and `ep2` into t:(1-t)
fEulerPara	operator= (const fEulerPara &)
	Assignment operator.
fEulerPara	operator= (const fMat33 &)
	Assignment operator.
double	rotation (const fEulerPara &ep0, const fVec3 &s)
	returns the rotation angle that makes the orientation closest to ep0 by rotating around axis s
void	set (const fVec3 &v, double s)
	Set the elements.
void	set (double s1, double s2, double s3, double s4)
	Set the elements; scalar part is `s4`.
void	set (const fEulerPara &)
	Copy from a reference.
void	set (const class fMat33 &)
	Set from an orientation matrix.
void	unit ()
	Convert to unit vector.
	~fEulerPara ()
Friends
double &	Ang (fEulerPara &ep)
	Access the scalar part (cos(theta/2))
fEulerPara	angvel2epdot (const fEulerPara &epara, const fVec3 &vel)
	Convert angular velocity to Euler parameter veclotiy.
fVec3 &	Axis (fEulerPara &ep)
	Access the vector part (a*sin(theta/2))
fMat33	ep2mat (const fEulerPara &)
	Convert an Euler parameter representation to matrix.
fVec3	epddot2angacc (const fEulerPara &e, const fEulerPara &de, const fEulerPara &dde)
	Convert Euler parameter acceleration to angular acceleration.
fVec3	epdot2angvel (const fEulerPara &epara, const fEulerPara &edot)
	Convert Euler parameter velocity to angular velocity.
fEulerPara	mat2ep (const fMat33 &)
	Convert an orientation matrix to Euler parameters.
fEulerPara	operator* (double, const fEulerPara &)
	Multiply with a scalar.
fEulerPara	operator- (const fEulerPara &)
	Convert to the negative vector (represents the same orientation).
fEulerPara	unit (const fEulerPara &)
	Convert to unit vector.

Detailed Description

Euler parameter class.

Euler parameter class, based on 4-element vector class.

Definition at line 28 of file fEulerPara.h.

Constructor & Destructor Documentation

fEulerPara::fEulerPara ( ) [inline]

Default constructor.

Definition at line 33 of file fEulerPara.h.

fEulerPara::~fEulerPara ( ) [inline]

Definition at line 35 of file fEulerPara.h.

fEulerPara::fEulerPara	(	const fVec3 &	v,
		double	s
	)		`[inline]`

Constructor specifying vector and scalar parts.

Definition at line 38 of file fEulerPara.h.

fEulerPara::fEulerPara	(	double	s1,
		double	s2,
		double	s3,
		double	s4
	)		`[inline]`

Constructor specifying the four elements; scalar part is s4.

Definition at line 42 of file fEulerPara.h.

Member Function Documentation

double& fEulerPara::Ang ( ) [inline]

Access the scalar part (cos(theta/2))

Definition at line 51 of file fEulerPara.h.

double fEulerPara::Ang ( ) const [inline]

Access the scalar part (cos(theta/2))

Definition at line 55 of file fEulerPara.h.

void fEulerPara::angvel2epdot	(	const fEulerPara &	_ep,
		const fVec3 &	_omega
	)

Convert angular velocity to Euler parameter veclotiy.

Parameters:

[in]	_ep	current orientation
[in]	_omega	angular velocity

Definition at line 106 of file fEulerPara.cpp.

fVec3& fEulerPara::Axis ( ) [inline]

Access the vector part (a*sin(theta/2))

Definition at line 63 of file fEulerPara.h.

const fVec3& fEulerPara::Axis ( ) const [inline]

Access the vector part (a*sin(theta/2))

Definition at line 67 of file fEulerPara.h.

void fEulerPara::identity ( ) [inline]

Set identity (no rotation).

Definition at line 90 of file fEulerPara.h.

void fEulerPara::interpolate	(	const fEulerPara &	ep1,
		const fEulerPara &	ep2,
		double	t
	)

SLERP interpolation: interpolates ep1 and ep2 into t:(1-t)

Definition at line 19 of file fEulerPara.cpp.

fEulerPara fEulerPara::operator= ( const fEulerPara & ep )

Assignment operator.

Definition at line 245 of file fEulerPara.cpp.

fEulerPara fEulerPara::operator= ( const fMat33 & mat )

Assignment operator.

Definition at line 252 of file fEulerPara.cpp.

double fEulerPara::rotation	(	const fEulerPara &	ep0,
		const fVec3 &	s
	)

returns the rotation angle that makes the orientation closest to ep0 by rotating around axis s

Definition at line 318 of file fEulerPara.cpp.

void fEulerPara::set	(	const fVec3 &	v,
		double	s
	)		`[inline]`

Set the elements.

Reimplemented from fVec4.

Definition at line 75 of file fEulerPara.h.

void fEulerPara::set	(	double	s1,
		double	s2,
		double	s3,
		double	s4
	)		`[inline]`

Set the elements; scalar part is s4.

Reimplemented from fVec4.

Definition at line 80 of file fEulerPara.h.

void fEulerPara::set ( const fEulerPara & _ep )

Copy from a reference.

Definition at line 50 of file fEulerPara.cpp.

void fEulerPara::set ( const class fMat33 & )

Set from an orientation matrix.

void fEulerPara::unit ( )

Convert to unit vector.

Definition at line 297 of file fEulerPara.cpp.

Friends And Related Function Documentation

double& Ang ( fEulerPara & ep ) [friend]

Access the scalar part (cos(theta/2))

Definition at line 47 of file fEulerPara.h.

fEulerPara angvel2epdot	(	const fEulerPara &	epara,
		const fVec3 &	vel
	)		`[friend]`

Convert angular velocity to Euler parameter veclotiy.

Definition at line 269 of file fEulerPara.cpp.

fVec3& Axis ( fEulerPara & ep ) [friend]

Access the vector part (a*sin(theta/2))

Definition at line 59 of file fEulerPara.h.

fMat33 ep2mat ( const fEulerPara & _epara ) [friend]

Convert an Euler parameter representation to matrix.

Definition at line 225 of file fEulerPara.cpp.

fVec3 epddot2angacc	(	const fEulerPara &	e,
		const fEulerPara &	de,
		const fEulerPara &	dde
	)		`[friend]`

Convert Euler parameter acceleration to angular acceleration.

Parameters:

[in]	e	current orientation (Euler parameters)
[in]	de	current Euler parameter velocity
[in]	dde	current Euler parameter acceleration

Definition at line 287 of file fEulerPara.cpp.

fVec3 epdot2angvel	(	const fEulerPara &	epara,
		const fEulerPara &	edot
	)		`[friend]`

Convert Euler parameter velocity to angular velocity.

Definition at line 278 of file fEulerPara.cpp.

fEulerPara mat2ep ( const fMat33 & _mat ) [friend]

Convert an orientation matrix to Euler parameters.

Definition at line 119 of file fEulerPara.cpp.

fEulerPara operator*	(	double	d,
		const fEulerPara &	ep
	)		`[friend]`

Multiply with a scalar.

Definition at line 261 of file fEulerPara.cpp.

fEulerPara operator- ( const fEulerPara & _ep ) [friend]

Convert to the negative vector (represents the same orientation).

Definition at line 310 of file fEulerPara.cpp.

fEulerPara unit ( const fEulerPara & ep ) [friend]

Convert to unit vector.

Definition at line 303 of file fEulerPara.cpp.

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

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation