Public Member Functions | Friends
fEulerPara Class Reference

Euler parameter class. More...

#include <fEulerPara.h>

Inheritance diagram for fEulerPara:
Inheritance graph
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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.

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.

Convert angular velocity to Euler parameter veclotiy.

Convert angular velocity to Euler parameter veclotiy.

Parameters:
[in]_epcurrent orientation
[in]_omegaangular 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.

Copy from a reference.

Definition at line 50 of file fEulerPara.cpp.

Set from an orientation matrix.

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]ecurrent orientation (Euler parameters)
[in]decurrent Euler parameter velocity
[in]ddecurrent 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