fEulerPara Class Reference

Euler parameter class. More...

`#include <fEulerPara.h>`

Inheritance diagram for fEulerPara:
[legend]

List of all members.

## 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.
fVec3Axis ()
Access the vector part (a*sin(theta/2))
const fVec3Axis () 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.
fVec3Axis (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.

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.

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:

openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:21