EulerAngles< Scalar_ > Class Template Reference

Public Types
enum	{ Dim = 3 }
typedef Scalar_	Scalar
typedef Matrix< Scalar, 3, 3 >	Matrix3
typedef Matrix< Scalar, 3, 1 >	Vector3
typedef Quaternion< Scalar >	QuaternionType

Public Member Functions
	EulerAngles ()
	EulerAngles (Scalar a0, Scalar a1, Scalar a2)
	EulerAngles (const QuaternionType &q)
const Vector3 &	coeffs () const
Vector3 &	coeffs ()
EulerAngles &	operator= (const QuaternionType &q)
EulerAngles &	operator= (const Matrix3 &m)
Matrix3	toRotationMatrix (void) const
	operator QuaternionType ()

Protected Attributes
Vector3	m_angles

Member Typedef Documentation

Matrix3

template<typename Scalar_ >

typedef Matrix<Scalar, 3, 3> EulerAngles< Scalar_ >::Matrix3

QuaternionType

template<typename Scalar_ >

typedef Quaternion<Scalar> EulerAngles< Scalar_ >::QuaternionType

Scalar

template<typename Scalar_ >

typedef Scalar_ EulerAngles< Scalar_ >::Scalar

Vector3

template<typename Scalar_ >

typedef Matrix<Scalar, 3, 1> EulerAngles< Scalar_ >::Vector3

Member Enumeration Documentation

anonymous enum

template<typename Scalar_ >

anonymous enum

Enumerator
Dim

{ Dim = 3 };

Constructor & Destructor Documentation

EulerAngles() [1/3]

template<typename Scalar_ >

EulerAngles< Scalar_ >::EulerAngles ( )

inline

{}

EulerAngles() [2/3]

template<typename Scalar_ >

EulerAngles< Scalar_ >::EulerAngles ( Scalar  a0, Scalar  a1, Scalar  a2  )

inline

: m_angles(a0, a1, a2) {}

EulerAngles() [3/3]

template<typename Scalar_ >

EulerAngles< Scalar_ >::EulerAngles ( const QuaternionType &  q )

inline

{ *this = q; }

References Eigen::numext::q.

Member Function Documentation

coeffs() [1/2]

template<typename Scalar_ >

Vector3& EulerAngles< Scalar_ >::coeffs ( )

inline

{ return m_angles; }

References Eigen::EulerAngles< Scalar_, _System >::m_angles.

coeffs() [2/2]

template<typename Scalar_ >

const Vector3& EulerAngles< Scalar_ >::coeffs ( ) const

inline

{ return m_angles; }

References Eigen::EulerAngles< Scalar_, _System >::m_angles.

operator QuaternionType()

template<typename Scalar_ >

EulerAngles< Scalar_ >::operator QuaternionType ( )

inline

{ return QuaternionType(toRotationMatrix()); }

References Eigen::EulerAngles< Scalar_, _System >::toRotationMatrix().

operator=() [1/2]

template<typename Scalar_ >

EulerAngles& EulerAngles< Scalar_ >::operator= ( const Matrix3 &  m )

inline

                                           {
    // mat =  cy*cz          -cy*sz           sy
    //        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
    //       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
    m_angles.coeffRef(1) = std::asin(m.coeff(0, 2));
    m_angles.coeffRef(0) = std::atan2(-m.coeff(1, 2), m.coeff(2, 2));
    m_angles.coeffRef(2) = std::atan2(-m.coeff(0, 1), m.coeff(0, 0));
    return *this;
  }

References Eigen::bfloat16_impl::asin(), atan2(), Eigen::Matrix< Scalar_, Rows_, Cols_, Options_, MaxRows_, MaxCols_ >::coeffRef(), m, and Eigen::EulerAngles< Scalar_, _System >::m_angles.

operator=() [2/2]

template<typename Scalar_ >

EulerAngles& EulerAngles< Scalar_ >::operator= ( const QuaternionType &  q )

inline

                                                  {
    Matrix3 m = q.toRotationMatrix();
    return *this = m;
  }

References m, and Eigen::numext::q.

toRotationMatrix()

template<typename Scalar_ >

Matrix3 EulerAngles< Scalar_ >::toRotationMatrix ( void  ) const

inline

                                       {
    Vector3 c = m_angles.array().cos();
    Vector3 s = m_angles.array().sin();
    Matrix3 res;
    res << c.y() * c.z(), -c.y() * s.z(), s.y(), c.z() * s.x() * s.y() + c.x() * s.z(),
        c.x() * c.z() - s.x() * s.y() * s.z(), -c.y() * s.x(), -c.x() * c.z() * s.y() + s.x() * s.z(),
        c.z() * s.x() + c.x() * s.y() * s.z(), c.x() * c.y();
    return res;
  }

References calibrate::c, Eigen::EulerAngles< Scalar_, _System >::m_angles, res, and s.

Member Data Documentation

m_angles

template<typename Scalar_ >

Vector3 EulerAngles< Scalar_ >::m_angles

protected

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

• quaternion_demo.cpp