Converter Namespace Reference

Functions
Eigen::Vector3d	enuToNed (Eigen::Vector3d enu)
Eigen::Quaterniond	fluEnuToFrdNed (const Eigen::Quaterniond &q_flu_to_enu)
Eigen::Vector3d	fluToFrd (Eigen::Vector3d flu)
Eigen::Quaterniond	frdNedTofluEnu (const Eigen::Quaterniond &q_frd_to_ned)
Eigen::Vector3d	frdToFlu (Eigen::Vector3d frd)
Eigen::Vector3d	nedToEnu (Eigen::Vector3d ned)

Variables
const auto	Q_ENU_TO_NED = Eigen::Quaterniond(0, 0.70711, 0.70711, 0)
	Quaternion for rotation between ENU and NED frames. More...
const auto	Q_FRD_FLU = Eigen::Quaterniond(0, 1, 0, 0)
	Quaternion for rotation between body FLU and body FRD frames. More...

Function Documentation

enuToNed()

Eigen::Vector3d Converter::enuToNed

(

Eigen::Vector3d

enu

)

Definition at line 53 of file cs_converter.cpp.

fluEnuToFrdNed()

Eigen::Quaterniond Converter::fluEnuToFrdNed

(

const Eigen::Quaterniond &

q_flu_to_enu

)

Definition at line 69 of file cs_converter.cpp.

fluToFrd()

Eigen::Vector3d Converter::fluToFrd

(

Eigen::Vector3d

flu

)

Definition at line 60 of file cs_converter.cpp.

frdNedTofluEnu()

Eigen::Quaterniond Converter::frdNedTofluEnu

(

const Eigen::Quaterniond &

q_frd_to_ned

)

Definition at line 65 of file cs_converter.cpp.

frdToFlu()

Eigen::Vector3d Converter::frdToFlu

(

Eigen::Vector3d

frd

)

Definition at line 57 of file cs_converter.cpp.

nedToEnu()

Eigen::Vector3d Converter::nedToEnu

(

Eigen::Vector3d

ned

)

Definition at line 50 of file cs_converter.cpp.

Variable Documentation

Q_ENU_TO_NED

const auto Converter::Q_ENU_TO_NED = Eigen::Quaterniond(0, 0.70711, 0.70711, 0)

Quaternion for rotation between ENU and NED frames.

NED to ENU: +PI/2 rotation about Z (Down) followed by a +PI rotation around X (old North/new East) ENU to NED: +PI/2 rotation about Z (Up) followed by a +PI rotation about X (old East/new North)

Note

Example: NED_px4 = Q_ENU_TO_NED * ENU_ros NED_ros = Q_ENU_TO_NED.inverse() * ENU_px4

Definition at line 35 of file cs_converter.cpp.

Q_FRD_FLU

const auto Converter::Q_FRD_FLU = Eigen::Quaterniond(0, 1, 0, 0)

Quaternion for rotation between body FLU and body FRD frames.

+PI rotation around X (Forward) axis rotates from Forward, Right, Down (aircraft) to Forward, Left, Up (base_link) frames and vice-versa.

Note

Example: FRD_px4 = Q_FRD_FLU * FLU_ros FRD_ros = Q_FRD_FLU * FLU_px4

Definition at line 46 of file cs_converter.cpp.