Public Member Functions | Static Public Member Functions | Static Public Attributes | Private Member Functions | Private Attributes | Friends
isam::Rot3d Class Reference

#include <Rot3d.h>

List of all members.

Public Member Functions

Rot3d exmap (const Eigen::VectorXd &delta) const
Eigen::Matrix3d oRw () const
double pitch () const
Eigen::Quaterniond quaternion () const
double roll () const
 Rot3d ()
 Rot3d (const Eigen::Quaterniond &quat)
 Rot3d (double yaw, double pitch, double roll)
 Rot3d (const Eigen::Matrix3d &wRo)
void set (double yaw, double pitch, double roll)
void set_pitch (double pitch)
void set_roll (double roll)
void set_yaw (double yaw)
double w () const
void write (std::ostream &out) const
const Eigen::Matrix3d & wRo () const
double x () const
double y () const
double yaw () const
void ypr (double &yaw, double &pitch, double &roll) const
double z () const

Static Public Member Functions

static Eigen::Quaterniond delta3_to_quat (const Eigen::Vector3d &delta)
static Eigen::Quaterniond euler_to_quat (double yaw, double pitch, double roll)
static
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Eigen::Matrix3d 
euler_to_wRo (double yaw, double pitch, double roll)
static const char * name ()
static void quat_to_euler (Eigen::Quaterniond q, double &yaw, double &pitch, double &roll)
static Eigen::Matrix3d quat_to_wRo (const Eigen::Quaterniond &quat)
static void wRo_to_euler (const Eigen::Matrix3d &wRo, double &yaw, double &pitch, double &roll)
static Eigen::Quaterniond wRo_to_quat (const Eigen::Matrix3d &wRo)

Static Public Attributes

static const int dim = 3
static const int size = 4

Private Member Functions

void ensure_ypr () const

Private Attributes

double _pitch
Eigen::Quaterniond _quat
double _roll
Eigen::Matrix3d _wRo
bool _wRo_cached
double _yaw
bool _ypr_cached

Friends

std::ostream & operator<< (std::ostream &out, const Rot3d &p)

Detailed Description

For conventions, see isam::Pose3d.h

Definition at line 46 of file Rot3d.h.


Constructor & Destructor Documentation

isam::Rot3d::Rot3d ( ) [inline]

Definition at line 177 of file Rot3d.h.

isam::Rot3d::Rot3d ( const Eigen::Quaterniond &  quat) [inline]

Definition at line 181 of file Rot3d.h.

isam::Rot3d::Rot3d ( double  yaw,
double  pitch,
double  roll 
) [inline]

Definition at line 183 of file Rot3d.h.

isam::Rot3d::Rot3d ( const Eigen::Matrix3d &  wRo) [inline]

Definition at line 187 of file Rot3d.h.


Member Function Documentation

static Eigen::Quaterniond isam::Rot3d::delta3_to_quat ( const Eigen::Vector3d &  delta) [inline, static]

Definition at line 126 of file Rot3d.h.

void isam::Rot3d::ensure_ypr ( ) const [inline, private]

Definition at line 166 of file Rot3d.h.

static Eigen::Quaterniond isam::Rot3d::euler_to_quat ( double  yaw,
double  pitch,
double  roll 
) [inline, static]

Definition at line 100 of file Rot3d.h.

static EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix3d isam::Rot3d::euler_to_wRo ( double  yaw,
double  pitch,
double  roll 
) [inline, static]

Definition at line 55 of file Rot3d.h.

Rot3d isam::Rot3d::exmap ( const Eigen::VectorXd &  delta) const [inline]

Definition at line 229 of file Rot3d.h.

static const char* isam::Rot3d::name ( ) [inline, static]

Definition at line 139 of file Rot3d.h.

Eigen::Matrix3d isam::Rot3d::oRw ( ) const [inline]

Return inverse rotation by transeposing.

Returns:
oRw

Definition at line 276 of file Rot3d.h.

double isam::Rot3d::pitch ( ) const [inline]

Definition at line 205 of file Rot3d.h.

static void isam::Rot3d::quat_to_euler ( Eigen::Quaterniond  q,
double &  yaw,
double &  pitch,
double &  roll 
) [inline, static]

Definition at line 114 of file Rot3d.h.

static Eigen::Matrix3d isam::Rot3d::quat_to_wRo ( const Eigen::Quaterniond &  quat) [inline, static]

Definition at line 96 of file Rot3d.h.

Eigen::Quaterniond isam::Rot3d::quaternion ( ) const [inline]

Definition at line 256 of file Rot3d.h.

double isam::Rot3d::roll ( ) const [inline]

Definition at line 206 of file Rot3d.h.

void isam::Rot3d::set ( double  yaw,
double  pitch,
double  roll 
) [inline]

Definition at line 219 of file Rot3d.h.

void isam::Rot3d::set_pitch ( double  pitch) [inline]

Definition at line 216 of file Rot3d.h.

void isam::Rot3d::set_roll ( double  roll) [inline]

Definition at line 217 of file Rot3d.h.

void isam::Rot3d::set_yaw ( double  yaw) [inline]

Definition at line 215 of file Rot3d.h.

double isam::Rot3d::w ( ) const [inline]

Definition at line 202 of file Rot3d.h.

void isam::Rot3d::write ( std::ostream &  out) const [inline]

Definition at line 194 of file Rot3d.h.

const Eigen::Matrix3d& isam::Rot3d::wRo ( ) const [inline]

Generate 3x3 rotation matrix from Rot3d.

Returns:
wRo

Definition at line 264 of file Rot3d.h.

static void isam::Rot3d::wRo_to_euler ( const Eigen::Matrix3d &  wRo,
double &  yaw,
double &  pitch,
double &  roll 
) [inline, static]

Definition at line 84 of file Rot3d.h.

static Eigen::Quaterniond isam::Rot3d::wRo_to_quat ( const Eigen::Matrix3d &  wRo) [inline, static]

Definition at line 92 of file Rot3d.h.

double isam::Rot3d::x ( ) const [inline]

Definition at line 199 of file Rot3d.h.

double isam::Rot3d::y ( ) const [inline]

Definition at line 200 of file Rot3d.h.

double isam::Rot3d::yaw ( ) const [inline]

Definition at line 204 of file Rot3d.h.

void isam::Rot3d::ypr ( double &  yaw,
double &  pitch,
double &  roll 
) const [inline]

Definition at line 208 of file Rot3d.h.

double isam::Rot3d::z ( ) const [inline]

Definition at line 201 of file Rot3d.h.


Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  out,
const Rot3d p 
) [friend]

Definition at line 47 of file Rot3d.h.


Member Data Documentation

double isam::Rot3d::_pitch [mutable, private]

Definition at line 162 of file Rot3d.h.

Eigen::Quaterniond isam::Rot3d::_quat [private]

Definition at line 154 of file Rot3d.h.

double isam::Rot3d::_roll [mutable, private]

Definition at line 163 of file Rot3d.h.

Eigen::Matrix3d isam::Rot3d::_wRo [mutable, private]

Definition at line 159 of file Rot3d.h.

bool isam::Rot3d::_wRo_cached [mutable, private]

Definition at line 158 of file Rot3d.h.

double isam::Rot3d::_yaw [mutable, private]

Definition at line 161 of file Rot3d.h.

bool isam::Rot3d::_ypr_cached [mutable, private]

Definition at line 160 of file Rot3d.h.

const int isam::Rot3d::dim = 3 [static]

Definition at line 138 of file Rot3d.h.

const int isam::Rot3d::size = 4 [static]

Definition at line 175 of file Rot3d.h.


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


demo_rgbd
Author(s): Ji Zhang
autogenerated on Mon Jan 6 2014 11:16:09