rci::Orientation Class Reference

Domain object, representing an orientation or rotational transformation in cartesian space. More...

#include <CartesianPose.h>

Inheritance diagram for rci::Orientation:

[legend]

Collaboration diagram for rci::Orientation:

[legend]

List of all members.

Public Member Functions
	Orientation ()
	Orientation (double q0, double q1, double q2, double q3)
	Orientation (const nemo::RealVector &values)
	Orientation (const Orientation &orientation)
	Orientation (const OrientationPtr &orientation)
	Orientation (const ::boost::math::quaternion< double > &quaternion)
	Orientation (double rxx, double rxy, double rxz, double ryx, double ryy, double ryz, double rzx, double rzy, double rzz)
virtual OrientationPtr	rotateBy (const OrientationPtr &rot) const
	Apply a rotation to this orientation/rotation.
virtual std::string	print () const
	Printing the orientation object.
Static Public Member Functions
static OrientationPtr	fromEulerAngles (double rotX, double rotY, double rotZ)
	Create orientation from given euler angles.
static OrientationPtr	fromAxisAngle (double angle, double vexX, double vecY, double vecZ)
	Create orientation from given values in axis-angle representation.
static OrientationPtr	fromCompactAxisAngle (double x, double y, double z)
	Create orientation from given values in compact axis-angle representation.
static OrientationPtr	fromQuaternion (double q0, double q1, double q2, double q3)
	Create orientation from.
static OrientationPtr	fromQuaternion (const ::boost::math::quaternion< double > &quaternion)
	Create orientation from.
static OrientationPtr	fromRotationMatrix (double rxx, double rxy, double rxz, double ryx, double ryy, double ryz, double rzx, double rzy, double rzz)

Detailed Description

Domain object, representing an orientation or rotational transformation in cartesian space.

We represent orientation as quaternions, for reference see http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation

Definition at line 82 of file CartesianPose.h.

Constructor & Destructor Documentation

rci::Orientation::Orientation ( )

Definition at line 72 of file CartesianPose.cpp.

Referenced by fromAxisAngle(), fromEulerAngles(), fromQuaternion(), and fromRotationMatrix().

Here is the caller graph for this function:

rci::Orientation::Orientation	(	double	q0,
		double	q1,
		double	q2,
		double	q3
	)

Definition at line 76 of file CartesianPose.cpp.

rci::Orientation::Orientation ( const nemo::RealVector & values )

rci::Orientation::Orientation ( const Orientation & orientation )

Definition at line 84 of file CartesianPose.cpp.

rci::Orientation::Orientation ( const OrientationPtr & orientation )

Definition at line 88 of file CartesianPose.cpp.

rci::Orientation::Orientation ( const ::boost::math::quaternion< double > & quaternion )

Definition at line 92 of file CartesianPose.cpp.

rci::Orientation::Orientation	(	double	rxx,
		double	rxy,
		double	rxz,
		double	ryx,
		double	ryy,
		double	ryz,
		double	rzx,
		double	rzy,
		double	rzz
	)

Definition at line 96 of file CartesianPose.cpp.

Member Function Documentation

OrientationPtr rci::Orientation::fromAxisAngle	(	double	angle,
		double	vexX,
		double	vecY,
		double	vecZ
	)			`[static]`

Create orientation from given values in axis-angle representation.

Expects rotation angle and axis as unit vector {x, y, z}.

Parameters:

	angle	Rotation angle
	vecX	X-Component of rotation axis
	vecY	Y-Component of rotation axis
	vecZ	Z-Component of rotation axis

Definition at line 127 of file CartesianPose.cpp.

References rci::CartesianRotational::epsilon(), and Orientation().

Referenced by fromCompactAxisAngle().

Here is the call graph for this function:

Here is the caller graph for this function:

OrientationPtr rci::Orientation::fromCompactAxisAngle	(	double	x,
		double	y,
		double	z
	)			`[static]`

Create orientation from given values in compact axis-angle representation.

Expects rotation as axis {x, y, z}, multiplied by rotation angle.

Definition at line 143 of file CartesianPose.cpp.

References fromAxisAngle().

Here is the call graph for this function:

OrientationPtr rci::Orientation::fromEulerAngles	(	double	rotX,
		double	rotY,
		double	rotZ
	)			`[static]`

Create orientation from given euler angles.

Convention is euler angles in order x, y, z - right-handed.

Parameters:

	rotX	Rotation angle around the x-axis
	rotY	Rotation angle around the y-axis
	rotZ	Rotation angle around the z-axis

Definition at line 113 of file CartesianPose.cpp.

References Orientation(), rci::CartesianRotational::q0(), rci::CartesianRotational::q1(), rci::CartesianRotational::q2(), and rci::CartesianRotational::q3().

Referenced by rci::Pose::fromMetersAndRadians().

Here is the call graph for this function:

Here is the caller graph for this function:

OrientationPtr rci::Orientation::fromQuaternion ( const ::boost::math::quaternion< double > & quaternion ) [static]

Create orientation from.

Definition at line 156 of file CartesianPose.cpp.

References Orientation().

Here is the call graph for this function:

OrientationPtr rci::Orientation::fromQuaternion	(	double	q0,
		double	q1,
		double	q2,
		double	q3
	)			`[static]`

Create orientation from.

Definition at line 150 of file CartesianPose.cpp.

References Orientation().

Referenced by rci::Pose::getOrientation(), and rotateBy().

Here is the call graph for this function:

Here is the caller graph for this function:

OrientationPtr rci::Orientation::fromRotationMatrix	(	double	rxx,
		double	rxy,
		double	rxz,
		double	ryx,
		double	ryy,
		double	ryz,
		double	rzx,
		double	rzy,
		double	rzz
	)			`[static]`