stateObservation::kine::Orientation Class Reference

#include <state-observation/tools/rigid-body-kinematics.hpp>

Collaboration diagram for stateObservation::kine::Orientation:

Public Member Functions
	Orientation (bool initialize=true)
	Orientation (const Vector3 &v)
	this is the rotation vector and NOT Euler angles
	Orientation (const Quaternion &q)
	Orientation (const Matrix3 &m)
	Orientation (const AngleAxis &aa)
	Orientation (const Quaternion &q, const Matrix3 &m)
	Orientation (const double &roll, const double &pitch, const double &yaw)
	Orientation (const Orientation &multiplier1, const Orientation &multiplier2)
Orientation &	operator= (const Vector3 &v)
Orientation &	operator= (const Quaternion &q)
Orientation &	operator= (const Matrix3 &m)
Orientation &	operator= (const AngleAxis &aa)
Orientation &	setValue (const Quaternion &q, const Matrix3 &m)
Orientation &	fromVector4 (const Vector4 &v)
Orientation &	setRandom ()
template<typename t = Quaternion>
Orientation &	setZeroRotation ()
const Matrix3 &	toMatrix3 () const
	get a const reference on the matrix or the quaternion
const Quaternion &	toQuaternion () const
	operator const Matrix3 & () const
	operator const Quaternion & () const
Vector4	toVector4 () const
Vector3	toRotationVector () const
Vector3	toRollPitchYaw () const
AngleAxis	toAngleAxis () const
Orientation	operator* (const Orientation &R2) const
const Orientation &	setToProductNoAlias (const Orientation &R1, const Orientation &R2)
	Noalias versions of the operator*.
Orientation	inverse () const
const Orientation &	integrate (Vector3 dt_x_omega)
const Orientation &	integrateRightSide (Vector3 dt_x_omega)
Vector3	differentiate (Orientation R_k1) const
	gives the log (rotation vector) of the "left-side" difference of orientation: log of R_k1*(*this).inverse().
Vector3	differentiateRightSide (Orientation R_k1) const
	gives the log (rotation vector) of the "right-side" difference of orientation: log of (*this).inverse() * R_k1.
Vector3	operator* (const Vector3 &v) const
	Rotate a vector.
bool	isSet () const
	checks that the orientation has been assigned a value.
void	reset ()
	resets the Orientation object.
bool	isMatrixSet () const
	checks that the matrix representation of the orientation has been assigned a value.
bool	isQuaternionSet () const
	checks that the quaternion representation of the orientation has been assigned a value.
void	setMatrix (bool b=true)
void	setQuaternion (bool b=true)
CheckedMatrix3 &	getMatrixRefUnsafe ()
	no checks are performed for these functions, use with caution
CheckedQuaternion &	getQuaternionRefUnsafe ()
	get a reference to the quaternion representation of the orientation without calling the check functions.
void	synchronize ()
	synchronizes the representations (quaternion and rotation matrix)

Static Public Member Functions
static Orientation	zeroRotation ()
	retruns a zero rotation
static Orientation	randomRotation ()
	Returns a uniformly distributed random rotation.

Protected Member Functions
void	check_ () const
const Matrix3 &	quaternionToMatrix_ () const
const Quaternion &	matrixToQuaternion_ () const

Protected Attributes
CheckedQuaternion	q_
CheckedMatrix3	m_

Constructor & Destructor Documentation

Orientation() [1/8]

stateObservation::kine::Orientation::Orientation ( bool  initialize = true )

explicit

The parameter initialize should be set to true except when it is certain that the initial value will not be used And that the first operation would be to set its value

Orientation() [2/8]

stateObservation::kine::Orientation::Orientation ( const Vector3 &  v )

explicit

this is the rotation vector and NOT Euler angles

Orientation() [3/8]

stateObservation::kine::Orientation::Orientation ( const Quaternion &  q )

explicit

Orientation() [4/8]

stateObservation::kine::Orientation::Orientation ( const Matrix3 &  m )

explicit

Orientation() [5/8]

stateObservation::kine::Orientation::Orientation ( const AngleAxis &  aa )

explicit

Orientation() [6/8]

stateObservation::kine::Orientation::Orientation	(	const Quaternion &	q,
		const Matrix3 &	m
	)

Orientation() [7/8]

stateObservation::kine::Orientation::Orientation	(	const double &	roll,
		const double &	pitch,
		const double &	yaw
	)

Orientation() [8/8]

stateObservation::kine::Orientation::Orientation	(	const Orientation &	multiplier1,
		const Orientation &	multiplier2
	)

Member Function Documentation

check_()

void stateObservation::kine::Orientation::check_ ( ) const

protected

differentiate()

Vector3 stateObservation::kine::Orientation::differentiate ( Orientation  R_k1 ) const

inline

gives the log (rotation vector) of the "left-side" difference of orientation: log of R_k1*(*this).inverse().

This function is also used to differentiate two Orientations expressed in the same frame at the same time k, even for the LocalKinematics (the integration of the orientation is different and therefore the associated differentiation also is, but the difference remains the same)

Parameters

R_k1	the other orientation with which we compute the difference.

Returns

Vector3

differentiateRightSide()

Vector3 stateObservation::kine::Orientation::differentiateRightSide ( Orientation  R_k1 ) const

inline

gives the log (rotation vector) of the "right-side" difference of orientation: log of (*this).inverse() * R_k1.

This function is also used to differentiate two Orientations expressed in the same frame at the same time k, even for the LocalKinematics (the integration of the orientation is different and therefore the associated differentiation also is, but the difference remains the same)

Parameters

R_k1	the other orientation with which we compute the difference.

Returns

Vector3

fromVector4()

Orientation & stateObservation::kine::Orientation::fromVector4 ( const Vector4 &  v )

inline

getMatrixRefUnsafe()

CheckedMatrix3 & stateObservation::kine::Orientation::getMatrixRefUnsafe ( )

inline

no checks are performed for these functions, use with caution

get a reference to the matrix representation of the orientation without calling the check functions.

Has to be used with care as this function doesn't check that the matrix has been assigned values.

Returns

CheckedMatrix3

getQuaternionRefUnsafe()

CheckedQuaternion & stateObservation::kine::Orientation::getQuaternionRefUnsafe ( )

inline

get a reference to the quaternion representation of the orientation without calling the check functions.

Has to be used with care as this function doesn't check that the quaternion has been assigned values.

Returns

CheckedQuaternion

integrate()

const Orientation & stateObservation::kine::Orientation::integrate ( Vector3  dt_x_omega )

inline

uses the vector dt_x_omega as the increment of rotation expressed in the world frame. Which gives R_{k+1}=\exp(S(dtxomega))R_k. This function is also used to sum two Orientations expressed in the same frame at the same time k, even for the LocalKinematics (the integration of the orientation is different but not the sum)

integrateRightSide()

const Orientation & stateObservation::kine::Orientation::integrateRightSide ( Vector3  dt_x_omega )

inline

use the vector dt_x_omega as the increment of rotation expressed in the local frame. Which gives R_{k+1}=R_k*exp(S(dtxomega))

inverse()

Orientation stateObservation::kine::Orientation::inverse ( ) const

inline

isMatrixSet()

bool stateObservation::kine::Orientation::isMatrixSet ( ) const

inline

checks that the matrix representation of the orientation has been assigned a value.

Returns

bool

isQuaternionSet()

bool stateObservation::kine::Orientation::isQuaternionSet ( ) const

inline

checks that the quaternion representation of the orientation has been assigned a value.

Returns

bool

isSet()

bool stateObservation::kine::Orientation::isSet ( ) const

inline

checks that the orientation has been assigned a value.

Returns

bool

matrixToQuaternion_()

const Quaternion & stateObservation::kine::Orientation::matrixToQuaternion_ ( ) const

inlineprotected

operator const Matrix3 &()

stateObservation::kine::Orientation::operator const Matrix3 & ( ) const

inline

operator const Quaternion &()

stateObservation::kine::Orientation::operator const Quaternion & ( ) const

inline

operator*() [1/2]

Orientation stateObservation::kine::Orientation::operator* ( const Orientation &  R2 ) const

inline

Multiply the rotation (orientation) by another rotation R2 the non const versions allow to use more optimized methods

operator*() [2/2]

Vector3 stateObservation::kine::Orientation::operator* ( const Vector3 &  v ) const

inline

Rotate a vector.

operator=() [1/4]

Orientation & stateObservation::kine::Orientation::operator= ( const AngleAxis &  aa )

inline

operator=() [2/4]

Orientation & stateObservation::kine::Orientation::operator= ( const Matrix3 &  m )

inline

operator=() [3/4]

Orientation & stateObservation::kine::Orientation::operator= ( const Quaternion &  q )

inline

operator=() [4/4]

Orientation & stateObservation::kine::Orientation::operator= ( const Vector3 &  v )

inline

quaternionToMatrix_()

const Matrix3 & stateObservation::kine::Orientation::quaternionToMatrix_ ( ) const

inlineprotected

randomRotation()

static Orientation stateObservation::kine::Orientation::randomRotation ( )

inlinestatic

Returns a uniformly distributed random rotation.

reset()

void stateObservation::kine::Orientation::reset ( )

inline

resets the Orientation object.

The orientation is then considered as outdated and cannot be used until it is assigned a value.

setMatrix()

void stateObservation::kine::Orientation::setMatrix ( bool  b = true )

inline

switch the state of the Matrix or quaternion to set or not this can be used for forward initialization

setQuaternion()

void stateObservation::kine::Orientation::setQuaternion ( bool  b = true )

inline

setRandom()

Orientation & stateObservation::kine::Orientation::setRandom ( )

inline

setToProductNoAlias()

const Orientation & stateObservation::kine::Orientation::setToProductNoAlias ( const Orientation &  R1, const Orientation &  R2  )

inline

Noalias versions of the operator*.

setValue()

Orientation & stateObservation::kine::Orientation::setValue ( const Quaternion &  q, const Matrix3 &  m  )

inline

setZeroRotation()

template<typename t = Quaternion>

Orientation & stateObservation::kine::Orientation::setZeroRotation ( )

inline

synchronize()

void stateObservation::kine::Orientation::synchronize ( )

inline

synchronizes the representations (quaternion and rotation matrix)

toAngleAxis()

AngleAxis stateObservation::kine::Orientation::toAngleAxis ( ) const

inline

toMatrix3()

const Matrix3 & stateObservation::kine::Orientation::toMatrix3 ( ) const

inline

get a const reference on the matrix or the quaternion

toQuaternion()

const Quaternion & stateObservation::kine::Orientation::toQuaternion ( ) const

inline

toRollPitchYaw()

Vector3 stateObservation::kine::Orientation::toRollPitchYaw ( ) const

inline

toRotationVector()

Vector3 stateObservation::kine::Orientation::toRotationVector ( ) const

inline

toVector4()

Vector4 stateObservation::kine::Orientation::toVector4 ( ) const

inline

zeroRotation()

static Orientation stateObservation::kine::Orientation::zeroRotation ( )

inlinestatic

retruns a zero rotation

Member Data Documentation

m_

CheckedMatrix3 stateObservation::kine::Orientation::m_

mutableprotected

q_

CheckedQuaternion stateObservation::kine::Orientation::q_

mutableprotected

---

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

• include/state-observation/tools/rigid-body-kinematics.hpp