Orientation provides conversions from common orientation types. More...
#include <orientation.h>
Public Member Functions | |
| Eigen::Matrix3d | matrix () const |
| The rotation matrix represented by this orientation. | |
| Orientation () | |
| Default constructor, identity rotation. | |
| Orientation (double w, double x, double y, double z) | |
| Quaternion constructor. | |
| Orientation (const Eigen::Matrix3d &m) | |
| Eigen rotation matrix constructor. | |
| Orientation (const Eigen::Quaterniond &q) | |
| Eigen::Quaterniond constructor. | |
| Orientation (const geometry_msgs::Quaternion &q) | |
| geometry_msgs quaternion constructor. | |
| Orientation (const tf::Quaternion &q) | |
| tf quaternion constructor. | |
| Orientation (const tf::Matrix3x3 &m) | |
| tf rotation matrix constructor. | |
| Eigen::Quaterniond | quaternion () const |
| The quaternion representation of this orientation. | |
| geometry_msgs::Quaternion | quaternion_msg () const |
| Returns the orientation as a geometry_msgs::Quaternion. | |
| tf::Matrix3x3 | tf_matrix () const |
| Returns the orientation as a tf::Matrix3x3. | |
| tf::Quaternion | tf_quaternion () const |
| Returns the orientation as a tf::Quaternion. | |
Private Attributes | |
| Eigen::Matrix3d | matrix_ |
Orientation provides conversions from common orientation types.
By default, it is the identity orientation. This class provides a number of methods to convert back to common types.
Definition at line 14 of file orientation.h.
Default constructor, identity rotation.
Definition at line 10 of file orientation.cpp.
| transform_graph::Orientation::Orientation | ( | double | w, |
| double | x, | ||
| double | y, | ||
| double | z | ||
| ) |
Quaternion constructor.
Definition at line 15 of file orientation.cpp.
| transform_graph::Orientation::Orientation | ( | const Eigen::Matrix3d & | m | ) |
Eigen rotation matrix constructor.
Definition at line 20 of file orientation.cpp.
| transform_graph::Orientation::Orientation | ( | const Eigen::Quaterniond & | q | ) |
Eigen::Quaterniond constructor.
Definition at line 22 of file orientation.cpp.
| transform_graph::Orientation::Orientation | ( | const geometry_msgs::Quaternion & | q | ) |
geometry_msgs quaternion constructor.
Definition at line 26 of file orientation.cpp.
| transform_graph::Orientation::Orientation | ( | const tf::Quaternion & | q | ) |
tf quaternion constructor.
Definition at line 31 of file orientation.cpp.
| transform_graph::Orientation::Orientation | ( | const tf::Matrix3x3 & | m | ) |
tf rotation matrix constructor.
Definition at line 36 of file orientation.cpp.
| Eigen::Matrix3d transform_graph::Orientation::matrix | ( | ) | const |
The rotation matrix represented by this orientation.
Definition at line 47 of file orientation.cpp.
| Eigen::Quaterniond transform_graph::Orientation::quaternion | ( | ) | const |
The quaternion representation of this orientation.
Definition at line 49 of file orientation.cpp.
| geometry_msgs::Quaternion transform_graph::Orientation::quaternion_msg | ( | ) | const |
Returns the orientation as a geometry_msgs::Quaternion.
Definition at line 53 of file orientation.cpp.
Returns the orientation as a tf::Matrix3x3.
Definition at line 69 of file orientation.cpp.
Returns the orientation as a tf::Quaternion.
Definition at line 63 of file orientation.cpp.
Eigen::Matrix3d transform_graph::Orientation::matrix_ [private] |
Definition at line 52 of file orientation.h.