Rotation structure and transformations between different parameterizations. More...

#include <Rotation.h>

Inheritance diagram for alvar::Rotation:

Public Types
enum	RotationType { QUAT, MAT, EUL, ROD }
	Rotation can be represented in four ways: quaternion (QUAT), matrix (MAT), euler angles (EUL) and exponential map (ROD). More...
Public Member Functions
void	GetEuler (CvMat *mat) const
	Returns the rotation in Euler angles.
void	GetMatrix (CvMat *mat) const
	Returns the rotation in matrix form. 3x3 and 4x4 matrices are allowed.
void	GetQuaternion (CvMat *mat) const
	Returns the rotation in quaternion form.
void	GetRodriques (CvMat *mat) const
	Returns the rotation in rotation vector form.
void	Mirror (bool x, bool y, bool z)
	Mirrors the rotation in selected directions.
Rotation &	operator+= (const Rotation &v)
Rotation &	operator= (const Rotation &p)
void	Reset ()
	Resets the rotation into identity.
	Rotation ()
	Rotation (const Rotation &r)
	Rotation (CvMat *data, RotationType t)
	Constructor.
void	SetEuler (const CvMat *mat)
	Sets the rotation from given Euler angles.
void	SetMatrix (const CvMat *mat)
	Sets the rotation from given rotation matrix. 3x3 and 4x4 matrices are allowed.
void	SetQuaternion (CvMat *mat)
	Sets the rotation from given quaternion.
void	SetQuaternion (const double *quat)
	Sets the rotation from given quaternion.
void	SetRodriques (const CvMat *mat)
	Sets the rotation from given rotation vector.
void	Transpose ()
Static Public Member Functions
static void	EulToQuat (const double eul, double quat)
	Converts a rotation described by Euler angles into quaternion form.
static void	Mat9ToQuat (const double mat, double quat)
	Converts a 3x3 rotation martix into quaternion form.
static void	Mat9ToRod (double mat, double rod)
	Converts 3x3 rotation matrix into Rodriques representation.
static void	MirrorMat (CvMat *mat, bool x, bool y, bool z)
	Simple function to mirror a rotation matrix in different directions.
static void	QuatInv (const double q, double qi)
	Inverts unit quaternion.
static void	QuatMul (const double q1, const double q2, double *q3)
	Quaternion multiplication.
static void	QuatNorm (double *q)
	Normalizes a quaternion.
static void	QuatToEul (const double q, double eul)
	Converts a rotation described by a quaternion into Euler angles.
static void	QuatToMat16 (const double quat, double mat)
	Converts a rotation described by a quaternion into 4x4 OpenGL-like transformation matrix. The translation part is not altered.
static void	QuatToMat9 (const double quat, double mat)
	Converts a rotation described by a quaternion into 3x3 rotation matrix.
static void	RodToMat9 (double rod, double mat)
	Converts 3x1 rotation vector into 3x3 rotation matrix using Rodriques' formula.
Public Attributes
double	quaternion [4]
CvMat	quaternion_mat

Detailed Description

Rotation structure and transformations between different parameterizations.

Definition at line 43 of file Rotation.h.

Member Enumeration Documentation

enum alvar::Rotation::RotationType

Rotation can be represented in four ways: quaternion (QUAT), matrix (MAT), euler angles (EUL) and exponential map (ROD).

Enumerator:

QUAT
MAT
EUL
ROD

Definition at line 53 of file Rotation.h.

Constructor & Destructor Documentation

alvar::Rotation::Rotation ( )

Definition at line 32 of file Rotation.cpp.

alvar::Rotation::Rotation ( const Rotation & r )

Definition at line 38 of file Rotation.cpp.

alvar::Rotation::Rotation	(	CvMat *	data,
		RotationType	t
	)

Constructor.

Parameters:

data	Rotation data stored in CvMat. With RotationType::MAT both 3x3 and 4x4 matrices are allowed.
t	Rotation type that corresponds to data.

Definition at line 43 of file Rotation.cpp.

Member Function Documentation

void alvar::Rotation::EulToQuat	(	const double *	eul,
		double *	quat
	)		`[static]`

Converts a rotation described by Euler angles into quaternion form.

Parameters:

eul	Rotation in Euler angles.
quat	Resulting quaternion.

Definition at line 271 of file Rotation.cpp.

void alvar::Rotation::GetEuler ( CvMat * mat ) const

Returns the rotation in Euler angles.

Parameters:

mat	The rotation is stored here (3x1 CvMat).

Definition at line 348 of file Rotation.cpp.

void alvar::Rotation::GetMatrix ( CvMat * mat ) const

Returns the rotation in matrix form. 3x3 and 4x4 matrices are allowed.

Parameters:

mat	The rotation is stored here.

Reimplemented in alvar::Pose.

Definition at line 331 of file Rotation.cpp.

void alvar::Rotation::GetQuaternion ( CvMat * mat ) const

Returns the rotation in quaternion form.

Parameters:

mat	The rotation is stored here (4x1 CvMat).

Definition at line 353 of file Rotation.cpp.

void alvar::Rotation::GetRodriques ( CvMat * mat ) const

Returns the rotation in rotation vector form.

Parameters:

mat	The rotation is stored here (3x1 CvMat).

Definition at line 341 of file Rotation.cpp.

void alvar::Rotation::Mat9ToQuat	(	const double *	mat,
		double *	quat
	)		`[static]`

Converts a 3x3 rotation martix into quaternion form.

Parameters:

mat	3x3 rotation matrix.
quat	Resulting quaternion.

Definition at line 257 of file Rotation.cpp.

void alvar::Rotation::Mat9ToRod	(	double *	mat,
		double *	rod
	)		`[static]`

Converts 3x3 rotation matrix into Rodriques representation.

Parameters:

mat	3x3 rotation matrix.
rod	Resulting 3x1 rotation vector.

Definition at line 99 of file Rotation.cpp.

void alvar::Rotation::Mirror	(	bool	x,
		bool	y,
		bool	z
	)

Mirrors the rotation in selected directions.

Parameters:

x
y
z

Reimplemented in alvar::Pose.

Definition at line 85 of file Rotation.cpp.

void alvar::Rotation::MirrorMat	(	CvMat *	mat,
		bool	x,
		bool	y,
		bool	z
	)		`[static]`

Simple function to mirror a rotation matrix in different directions.

Parameters:

mat	Matrix to be mirrored.
x
y
z

Definition at line 75 of file Rotation.cpp.

Rotation & alvar::Rotation::operator+= ( const Rotation & v ) [inline]

Definition at line 365 of file Rotation.cpp.

Rotation & alvar::Rotation::operator= ( const Rotation & p ) [inline]

Definition at line 359 of file Rotation.cpp.

void alvar::Rotation::QuatInv	(	const double *	q,
		double *	qi
	)		`[static]`

Inverts unit quaternion.

Parameters:

q	Unit quaternion to be inverted.
qi	Resulting quaternion.

Definition at line 115 of file Rotation.cpp.

void alvar::Rotation::QuatMul	(	const double *	q1,
		const double *	q2,
		double *	q3
	)		`[static]`

Quaternion multiplication.

Parameters:

q1
q2
q3	Resulting quaternion.

Definition at line 132 of file Rotation.cpp.

void alvar::Rotation::QuatNorm ( double * q ) [static]

Normalizes a quaternion.

Parameters:

q	Quaternion to be normalized.

Definition at line 123 of file Rotation.cpp.

void alvar::Rotation::QuatToEul	(	const double *	q,
		double *	eul
	)		`[static]`

Converts a rotation described by a quaternion into Euler angles.

Parameters:

q	Rotation in quaternion form.
eul	Resulting Euler angles.

Definition at line 221 of file Rotation.cpp.

void alvar::Rotation::QuatToMat16	(	const double *	quat,
		double *	mat
	)		`[static]`

Converts a rotation described by a quaternion into 4x4 OpenGL-like transformation matrix. The translation part is not altered.

Parameters:

quat	Rotation in quaternion form.
mat	Resulting 4x4 transformation matrix.

Definition at line 185 of file Rotation.cpp.

void alvar::Rotation::QuatToMat9	(	const double *	quat,
		double *	mat
	)		`[static]`

Converts a rotation described by a quaternion into 3x3 rotation matrix.

Parameters:

quat	Rotation in quaternion form.
mat	Corresponding 3x3 rotation matrix.

Definition at line 152 of file Rotation.cpp.

void alvar::Rotation::Reset ( )

Resets the rotation into identity.

Reimplemented in alvar::Pose.

Definition at line 94 of file Rotation.cpp.

void alvar::Rotation::RodToMat9	(	double *	rod,
		double *	mat
	)		`[static]`

Converts 3x1 rotation vector into 3x3 rotation matrix using Rodriques' formula.

Parameters:

rod	3x1 rotation vector.
Resulting	3x3 rotation matrix.

Definition at line 107 of file Rotation.cpp.

void alvar::Rotation::SetEuler ( const CvMat * mat )

Sets the rotation from given Euler angles.

Parameters:

mat	Input Euler angles (3x1 CvMat).

Definition at line 309 of file Rotation.cpp.

void alvar::Rotation::SetMatrix ( const CvMat * mat )

Sets the rotation from given rotation matrix. 3x3 and 4x4 matrices are allowed.

Parameters:

mat	Input rotation matrix (3x3 or 4x4 CvMat).

Reimplemented in alvar::Pose.

Definition at line 321 of file Rotation.cpp.

void alvar::Rotation::SetQuaternion ( CvMat * mat )

Sets the rotation from given quaternion.

Parameters:

mat	Input quaternion (4x1 CvMat).

Definition at line 294 of file Rotation.cpp.

void alvar::Rotation::SetQuaternion ( const double * quat )

Sets the rotation from given quaternion.

Parameters:

mat	Input quaternion (4x1 double array).

Definition at line 300 of file Rotation.cpp.

void alvar::Rotation::SetRodriques ( const CvMat * mat )

Sets the rotation from given rotation vector.

Parameters:

mat	Input rotation vector (3x1 CvMat).

Definition at line 314 of file Rotation.cpp.

void alvar::Rotation::Transpose ( )

Reimplemented in alvar::Pose.

Definition at line 66 of file Rotation.cpp.

Member Data Documentation

double alvar::Rotation::quaternion[4]

Definition at line 48 of file Rotation.h.

CvMat alvar::Rotation::quaternion_mat

Definition at line 47 of file Rotation.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation