Euler parameter class. More...

#include <fEulerPara.h>

Inheritance diagram for fEulerPara:

Public Member Functions
double &	Ang ()
	Access the scalar part (cos(theta/2)) More...

double	Ang () const
	Access the scalar part (cos(theta/2)) More...

void	angvel2epdot (const fEulerPara &_ep, const fVec3 &_omega)
	Convert angular velocity to Euler parameter veclotiy. More...

fVec3 &	Axis ()
	Access the vector part (a*sin(theta/2)) More...

const fVec3 &	Axis () const
	Access the vector part (a*sin(theta/2)) More...

	fEulerPara ()
	Default constructor. More...

	fEulerPara (const fVec3 &v, double s)
	Constructor specifying vector and scalar parts. More...

	fEulerPara (double s1, double s2, double s3, double s4)
	Constructor specifying the four elements; scalar part is `s4`. More...

void	identity ()
	Set identity (no rotation). More...

void	interpolate (const fEulerPara &ep1, const fEulerPara &ep2, double t)
	SLERP interpolation: interpolates `ep1` and `ep2` into t:(1-t) More...

fEulerPara	operator= (const fEulerPara &)
	Assignment operator. More...

fEulerPara	operator= (const fMat33 &)
	Assignment operator. More...

double	rotation (const fEulerPara &ep0, const fVec3 &s)
	returns the rotation angle that makes the orientation closest to ep0 by rotating around axis s More...

void	set (const fVec3 &v, double s)
	Set the elements. More...

void	set (double s1, double s2, double s3, double s4)
	Set the elements; scalar part is `s4`. More...

void	set (const fEulerPara &)
	Copy from a reference. More...

void	set (const class fMat33 &)
	Set from an orientation matrix. More...

void	unit ()
	Convert to unit vector. More...

	~fEulerPara ()

Public Member Functions inherited from fVec4
void	add (const fVec4 &vec1, const fVec4 &vec2)

void	cross (const fVec4 &vec1, const fVec4 &vec2)

	fVec4 ()

	fVec4 (const fVec4 &v)

	fVec4 (const fVec3 &v)

void	mul (fVec4 &_vec, double d)

double &	operator() (int i)

double	operator() (int i) const

void	operator*= (double)

void	operator+= (const fVec4 &)

void	operator-= (const fVec4 &)

void	operator/= (double)

fVec4	operator= (const fVec4 &vec)

void	operator= (double d)

double &	Scalar ()

void	set (const fVec3 &v, double s)

void	set (double s1, double s2, double s3, double s4)

void	sub (const fVec4 &vec1, const fVec4 &vec2)

fVec3 &	Vec ()

void	zero ()

	~fVec4 ()

Friends
double &	Ang (fEulerPara &ep)
	Access the scalar part (cos(theta/2)) More...

fEulerPara	angvel2epdot (const fEulerPara &epara, const fVec3 &vel)
	Convert angular velocity to Euler parameter veclotiy. More...

fVec3 &	Axis (fEulerPara &ep)
	Access the vector part (a*sin(theta/2)) More...

fMat33	ep2mat (const fEulerPara &)
	Convert an Euler parameter representation to matrix. More...

fVec3	epddot2angacc (const fEulerPara &e, const fEulerPara &de, const fEulerPara &dde)
	Convert Euler parameter acceleration to angular acceleration. More...

fVec3	epdot2angvel (const fEulerPara &epara, const fEulerPara &edot)
	Convert Euler parameter velocity to angular velocity. More...

fEulerPara	mat2ep (const fMat33 &)
	Convert an orientation matrix to Euler parameters. More...

fEulerPara	operator* (double, const fEulerPara &)
	Multiply with a scalar. More...

fEulerPara	operator- (const fEulerPara &)
	Convert to the negative vector (represents the same orientation). More...

fEulerPara	unit (const fEulerPara &)
	Convert to unit vector. More...

Additional Inherited Members
Protected Attributes inherited from fVec4
double	m_scalar

fVec3	m_vec

double	temp

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() [1/3]

fEulerPara::fEulerPara ( )

inline

Default constructor.

Definition at line 33 of file fEulerPara.h.

◆ ~fEulerPara()

fEulerPara::~fEulerPara ( )

inline

Definition at line 35 of file fEulerPara.h.

◆ fEulerPara() [2/3]

fEulerPara::fEulerPara	(	const fVec3 &	v,
		double	s
	)

inline

Constructor specifying vector and scalar parts.

Definition at line 38 of file fEulerPara.h.

◆ fEulerPara() [3/3]

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

◆ Ang() [1/2]

double& fEulerPara::Ang ( )

inline

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

Definition at line 51 of file fEulerPara.h.

◆ Ang() [2/2]

double fEulerPara::Ang ( ) const

inline

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

Definition at line 55 of file fEulerPara.h.

◆ angvel2epdot()

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.

◆ Axis() [1/2]

fVec3& fEulerPara::Axis ( )

inline

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

Definition at line 63 of file fEulerPara.h.

◆ Axis() [2/2]

const fVec3& fEulerPara::Axis ( ) const

inline

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

Definition at line 67 of file fEulerPara.h.

◆ identity()

void fEulerPara::identity ( )

inline

Set identity (no rotation).

Definition at line 90 of file fEulerPara.h.

◆ interpolate()

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.

◆ operator=() [1/2]

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

Assignment operator.

Definition at line 245 of file fEulerPara.cpp.

◆ operator=() [2/2]

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

Assignment operator.

Definition at line 252 of file fEulerPara.cpp.

◆ rotation()

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.

◆ set() [1/4]

void fEulerPara::set	(	const fVec3 &	v,
		double	s
	)

inline

Set the elements.

Definition at line 75 of file fEulerPara.h.

◆ set() [2/4]

void fEulerPara::set	(	double	s1,
		double	s2,
		double	s3,
		double	s4
	)

inline

Set the elements; scalar part is s4.

Definition at line 80 of file fEulerPara.h.

◆ set() [3/4]

void fEulerPara::set ( const fEulerPara & _ep )

Copy from a reference.

Definition at line 50 of file fEulerPara.cpp.

◆ set() [4/4]

void fEulerPara::set ( const class fMat33 & )

Set from an orientation matrix.

◆ unit()

void fEulerPara::unit ( )

Convert to unit vector.

Definition at line 297 of file fEulerPara.cpp.

Friends And Related Function Documentation

◆ Ang

double& Ang ( fEulerPara & ep )

friend

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

Definition at line 47 of file fEulerPara.h.

◆ angvel2epdot

fEulerPara angvel2epdot	(	const fEulerPara &	epara,
		const fVec3 &	vel
	)

friend

Convert angular velocity to Euler parameter veclotiy.

Definition at line 269 of file fEulerPara.cpp.

◆ Axis

fVec3& Axis ( fEulerPara & ep )

friend

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

Definition at line 59 of file fEulerPara.h.

◆ ep2mat

fMat33 ep2mat ( const fEulerPara & _epara )

friend

Convert an Euler parameter representation to matrix.

Definition at line 225 of file fEulerPara.cpp.

◆ epddot2angacc

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.

◆ epdot2angvel

fVec3 epdot2angvel	(	const fEulerPara &	epara,
		const fEulerPara &	edot
	)

friend

Convert Euler parameter velocity to angular velocity.

Definition at line 278 of file fEulerPara.cpp.

◆ mat2ep

fEulerPara mat2ep ( const fMat33 & _mat )

friend

Convert an orientation matrix to Euler parameters.

Definition at line 119 of file fEulerPara.cpp.

◆ operator*

fEulerPara operator*	(	double	d,
		const fEulerPara &	ep
	)

friend

Multiply with a scalar.

Definition at line 261 of file fEulerPara.cpp.

◆ operator-

fEulerPara operator- ( const fEulerPara & _ep )

friend

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

Definition at line 310 of file fEulerPara.cpp.

◆ unit

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

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ fEulerPara() [1/3]

◆ ~fEulerPara()

◆ fEulerPara() [2/3]

◆ fEulerPara() [3/3]

Member Function Documentation

◆ Ang() [1/2]

◆ Ang() [2/2]

◆ angvel2epdot()

◆ Axis() [1/2]

◆ Axis() [2/2]

◆ identity()

◆ interpolate()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ rotation()

◆ set() [1/4]

◆ set() [2/4]

◆ set() [3/4]

◆ set() [4/4]

◆ unit()

Friends And Related Function Documentation

◆ Ang

◆ angvel2epdot

◆ Axis

◆ ep2mat

◆ epddot2angacc

◆ epdot2angvel

◆ mat2ep

◆ operator*

◆ operator-

◆ unit