Roll-pitch-yaw operations. More...

Functions
template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options >	computeRpyJacobian (const Eigen::MatrixBase< Vector3Like > &rpy, const ReferenceFrame rf=LOCAL)
	Compute the Jacobian of the Roll-Pitch-Yaw conversion. More...

template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options >	computeRpyJacobianInverse (const Eigen::MatrixBase< Vector3Like > &rpy, const ReferenceFrame rf=LOCAL)
	Compute the inverse Jacobian of the Roll-Pitch-Yaw conversion. More...

template<typename Vector3Like0 , typename Vector3Like1 >
Eigen::Matrix< typename Vector3Like0::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like0)::Options >	computeRpyJacobianTimeDerivative (const Eigen::MatrixBase< Vector3Like0 > &rpy, const Eigen::MatrixBase< Vector3Like1 > &rpydot, const ReferenceFrame rf=LOCAL)
	Compute the time derivative Jacobian of the Roll-Pitch-Yaw conversion. More...

template<typename Matrix3Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options >	matrixToRpy (const Eigen::MatrixBase< Matrix3Like > &R)
	Convert from Transformation Matrix to Roll, Pitch, Yaw. More...

template<typename Scalar >
Eigen::Matrix< Scalar, 3, 3 >	rpyToMatrix (const Scalar &r, const Scalar &p, const Scalar &y)
	Convert from Roll, Pitch, Yaw to rotation Matrix. More...

template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options >	rpyToMatrix (const Eigen::MatrixBase< Vector3Like > &rpy)
	Convert from Roll, Pitch, Yaw to rotation Matrix. More...

Detailed Description

Roll-pitch-yaw operations.

Function Documentation

template<typename Vector3Like >

Eigen::Matrix<typename Vector3Like::Scalar,3,3,PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> pinocchio::rpy::computeRpyJacobian	(	const Eigen::MatrixBase< Vector3Like > &	rpy,
		const ReferenceFrame	rf = `LOCAL`
	)

Compute the Jacobian of the Roll-Pitch-Yaw conversion.

Given $\phi = (r, p, y)$ and reference frame F (either LOCAL or WORLD), the Jacobian is such that ${}^F\omega = J_F(\phi)\dot{\phi}$ , where ${}^F\omega$ is the angular velocity expressed in frame F and $ J_F $ is the Jacobian computed with reference frame F

Parameters

[in]	rpy	Roll-Pitch-Yaw vector
[in]	rf	Reference frame in which the angular velocity is expressed

Returns: The Jacobian of the Roll-Pitch-Yaw conversion in the appropriate frame

Note: for the purpose of this function, WORLD and LOCAL_WORLD_ALIGNED are equivalent

template<typename Vector3Like >

Eigen::Matrix<typename Vector3Like::Scalar,3,3,PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> pinocchio::rpy::computeRpyJacobianInverse	(	const Eigen::MatrixBase< Vector3Like > &	rpy,
		const ReferenceFrame	rf = `LOCAL`
	)

Compute the inverse Jacobian of the Roll-Pitch-Yaw conversion.

Given $\phi = (r, p, y)$ and reference frame F (either LOCAL or WORLD), the Jacobian is such that ${}^F\omega = J_F(\phi)\dot{\phi}$ , where ${}^F\omega$ is the angular velocity expressed in frame F and $ J_F $ is the Jacobian computed with reference frame F

Parameters

[in]	rpy	Roll-Pitch-Yaw vector
[in]	rf	Reference frame in which the angular velocity is expressed

Returns: The inverse of the Jacobian of the Roll-Pitch-Yaw conversion in the appropriate frame

Note: for the purpose of this function, WORLD and LOCAL_WORLD_ALIGNED are equivalent

template<typename Vector3Like0 , typename Vector3Like1 >

Eigen::Matrix<typename Vector3Like0::Scalar,3,3,PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like0)::Options> pinocchio::rpy::computeRpyJacobianTimeDerivative	(	const Eigen::MatrixBase< Vector3Like0 > &	rpy,
		const Eigen::MatrixBase< Vector3Like1 > &	rpydot,
		const ReferenceFrame	rf = `LOCAL`
	)

Compute the time derivative Jacobian of the Roll-Pitch-Yaw conversion.

Given $\phi = (r, p, y)$ and reference frame F (either LOCAL or WORLD), the Jacobian is such that ${}^F\omega = J_F(\phi)\dot{\phi}$ , where ${}^F\omega$ is the angular velocity expressed in frame F and $ J_F $ is the Jacobian computed with reference frame F

Parameters

[in]	rpy	Roll-Pitch-Yaw vector
[in]	rpydot	Time derivative of the Roll-Pitch-Yaw vector
[in]	rf	Reference frame in which the angular velocity is expressed

Returns: The time derivative of the Jacobian of the Roll-Pitch-Yaw conversion in the appropriate frame

Note: for the purpose of this function, WORLD and LOCAL_WORLD_ALIGNED are equivalent

template<typename Matrix3Like >

Eigen::Matrix<typename Matrix3Like::Scalar,3,1,PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> pinocchio::rpy::matrixToRpy ( const Eigen::MatrixBase< Matrix3Like > & R )

Convert from Transformation Matrix to Roll, Pitch, Yaw.

Given a rotation matrix $R$ , the angles $r, p, y$ are given so that $ R = R_z(y)R_y(p)R_x(r) $ , where $R_{\alpha}(\theta)$ denotes the rotation of $\theta$ degrees around axis $\alpha$ . The angles are guaranteed to be in the ranges $r\in[-\pi,\pi]$ $p\in[-\frac{\pi}{2},\frac{\pi}{2}]$ $y\in[-\pi,\pi]$ , unlike Eigen's eulerAngles() function

Warning: the method assumes is a rotation matrix. If it is not, the result is undefined.

template<typename Scalar >

Eigen::Matrix<Scalar,3,3> pinocchio::rpy::rpyToMatrix	(	const Scalar &	r,
		const Scalar &	p,
		const Scalar &	y
	)

Convert from Roll, Pitch, Yaw to rotation Matrix.

Given $r, p, y$ , the rotation is given as $ R = R_z(y)R_y(p)R_x(r) $ , where $R_{\alpha}(\theta)$ denotes the rotation of $\theta$ degrees around axis $\alpha$ .

template<typename Vector3Like >

Eigen::Matrix<typename Vector3Like::Scalar,3,3,PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> pinocchio::rpy::rpyToMatrix ( const Eigen::MatrixBase< Vector3Like > & rpy )

Convert from Roll, Pitch, Yaw to rotation Matrix.

Given a vector $(r, p, y)$ , the rotation is given as $ R = R_z(y)R_y(p)R_x(r) $ , where $R_{\alpha}(\theta)$ denotes the rotation of $\theta$ degrees around axis $\alpha$ .

Functions

Detailed Description

Function Documentation