Class Orientation3DStamped

Defined in File orientation_3d_stamped.hpp

Inheritance Relationships

Base Types

public fuse_variables::FixedSizeVariable< 4 > (Template Class FixedSizeVariable)
public fuse_variables::Stamped (Class Stamped)

Class Documentation

class Orientation3DStamped : public fuse_variables::FixedSizeVariable<4>, public fuse_variables::Stamped 

Variable representing a 3D orientation as a quaternion at a specific time and for a specific piece of hardware (e.g., robot)

This is commonly used to represent a robot orientation in single or multi-robot systems. The UUID of this class is static after construction. As such, the timestamp and device ID cannot be modified. The value of the orientation can be modified.

The internal representation for this is different from the typical ROS representation, as w is the first component. This is necessary to use the Ceres local parameterization for quaternions.

Public Types

Can be used to directly index variables in the quaternion.

Values:

enumerator W

enumerator X

enumerator Y

enumerator Z

enum class Euler : size_t

Can be used to reference Euler angles, but NOT as indices in the data_ member.

Values:

enumerator ROLL

enumerator PITCH

enumerator YAW

Public Functions

Orientation3DStamped() = default: Default constructor.

explicit Orientation3DStamped(const rclcpp::Time &stamp, const fuse_core::UUID &device_id = fuse_core::uuid::NIL)

Construct a 3D orientation at a specific point in time.

Parameters:

stamp – [in] The timestamp attached to this velocity.
device_id – [in] An optional device id, for use when variables originate from multiple robots or devices

inline double &w(): Read-write access to the quaternion w component.

inline const double &w() const: Read-only access to the quaternion w component.

inline double &x(): Read-write access to the quaternion x component.

inline const double &x() const: Read-only access to the quaternion x component.

inline double &y(): Read-write access to the quaternion y component.

inline const double &y() const: Read-only access to the quaternion y component.

inline double &z(): Read-write access to the quaternion z component.

inline const double &z() const: Read-only access to the quaternion z component.

inline double roll(): Read-only access to quaternion’s Euler roll angle component.

inline double pitch(): Read-only access to quaternion’s Euler pitch angle component.

inline double yaw(): Read-only access to quaternion’s Euler yaw angle component.

void print(std::ostream &stream = std::cout) const override

Print a human-readable description of the variable to the provided stream.

Parameters:: stream – The stream to write to. Defaults to stdout.

inline size_t localSize() const override

Returns the number of elements of the local parameterization space.

While a quaternion has 4 parameters, a 3D rotation only has 3 degrees of freedom. Hence, the local parameterization space is only size 3.

fuse_core::LocalParameterization *localParameterization() const override

Provides a Ceres local parameterization for the quaternion.

Returns:: A pointer to a local parameterization object that indicates how to “add” increments to the quaternion

Friends

friend class boost::serialization::access