ftf_frame_conversions.cpp File Reference

#include <mavros/frame_tf.h>
#include <stdexcept>

Include dependency graph for ftf_frame_conversions.cpp:

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Namespaces
	mavros
	mavros::ftf
	mavros::ftf::detail

Typedefs
using	mavros::ftf::detail::Matrix6d = Eigen::Matrix< double, 6, 6 >
	Auxiliar matrices to Covariance transforms. More...
using	mavros::ftf::detail::Matrix9d = Eigen::Matrix< double, 9, 9 >

Functions
static const Eigen::Affine3d	mavros::ftf::detail::AIRCRAFT_BASELINK_AFFINE (AIRCRAFT_BASELINK_Q)
	Static vector needed for rotating between aircraft and base_link frames +PI rotation around X (Forward) axis transforms from Forward, Right, Down (aircraft) Fto Forward, Left, Up (base_link) frames. More...
static const Eigen::Affine3d	mavros::ftf::detail::NED_ENU_AFFINE (NED_ENU_Q)
	Static vector needed for rotating between ENU and NED frames +PI rotation around X (North) axis follwed by +PI/2 rotation about Z (Down) gives the ENU frame. Similarly, a +PI rotation about X (East) followed by a +PI/2 roation about Z (Up) gives the NED frame. More...
static const Eigen::PermutationMatrix< 3 >	mavros::ftf::detail::NED_ENU_REFLECTION_XY (Eigen::Vector3i(1, 0, 2))
	Use reflections instead of rotations for NED <-> ENU transformation to avoid NaN/Inf floating point pollution across different axes since in NED <-> ENU the axes are perfectly aligned. More...
static const Eigen::DiagonalMatrix< double, 3 >	mavros::ftf::detail::NED_ENU_REFLECTION_Z (1, 1,-1)
Eigen::Vector3d	mavros::ftf::detail::transform_frame (const Eigen::Vector3d &vec, const Eigen::Quaterniond &q)
	Transform data expressed in one frame to another frame. More...
Covariance3d	mavros::ftf::detail::transform_frame (const Covariance3d &cov, const Eigen::Quaterniond &q)
	Transform 3x3 convariance expressed in one frame to another. More...
Covariance6d	mavros::ftf::detail::transform_frame (const Covariance6d &cov, const Eigen::Quaterniond &q)
	Transform 6x6 convariance expressed in one frame to another. More...
Covariance9d	mavros::ftf::detail::transform_frame (const Covariance9d &cov, const Eigen::Quaterniond &q)
	Transform 9x9 convariance expressed in one frame to another. More...
Eigen::Quaterniond	mavros::ftf::detail::transform_orientation (const Eigen::Quaterniond &q, const StaticTF transform)
	Transform representation of attitude from 1 frame to another (e.g. transfrom attitude from representing from base_link -> NED to representing base_link -> ENU) More...
Eigen::Vector3d	mavros::ftf::detail::transform_static_frame (const Eigen::Vector3d &vec, const StaticTF transform)
	Transform data expressed in one frame to another frame. More...
Covariance3d	mavros::ftf::detail::transform_static_frame (const Covariance3d &cov, const StaticTF transform)
	Transform 3d convariance expressed in one frame to another. More...
Covariance6d	mavros::ftf::detail::transform_static_frame (const Covariance6d &cov, const StaticTF transform)
	Transform 6d convariance expressed in one frame to another. More...
Covariance9d	mavros::ftf::detail::transform_static_frame (const Covariance9d &cov, const StaticTF transform)
	Transform 9d convariance expressed in one frame to another. More...
Eigen::Vector3d	mavros::ftf::detail::transform_static_frame (const Eigen::Vector3d &vec, const Eigen::Vector3d &map_origin, const StaticEcefTF transform)
	Transform data expressed in one frame to another frame with additional map origin parameter. More...

Variables
static const auto	mavros::ftf::detail::AIRCRAFT_BASELINK_Q = quaternion_from_rpy(M_PI, 0.0, 0.0)
	Static quaternion needed for rotating between aircraft and base_link frames +PI rotation around X (Forward) axis transforms from Forward, Right, Down (aircraft) Fto Forward, Left, Up (base_link) frames. More...
static const auto	mavros::ftf::detail::AIRCRAFT_BASELINK_R = AIRCRAFT_BASELINK_Q.normalized().toRotationMatrix()
static const auto	mavros::ftf::detail::NED_ENU_Q = quaternion_from_rpy(M_PI, 0.0, M_PI_2)
	Static quaternion needed for rotating between ENU and NED frames NED to ENU: +PI/2 rotation about Z (Down) followed by a +PI rotation around X (old North/new East) ENU to NED: +PI/2 rotation about Z (Up) followed by a +PI rotation about X (old East/new North) More...
static const auto	mavros::ftf::detail::NED_ENU_R = NED_ENU_Q.normalized().toRotationMatrix()
	3-D matrices to fill 6-D rotation matrix applied to change covariance matrices coordinate frames More...