rci::RotationalVelocity Class Reference

Domain object, representing an rotational velocity in cartesian space as quaternions (for reference see http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation ). More...

#include <CartesianVelocity.h>

Inheritance diagram for rci::RotationalVelocity:

[legend]

Collaboration diagram for rci::RotationalVelocity:

[legend]

List of all members.

Public Member Functions
	RotationalVelocity ()
	RotationalVelocity (double q0, double q1, double q2, double q3)
	RotationalVelocity (nemo::RealVector values)
	RotationalVelocity (const RotationalVelocity &orientation)
	RotationalVelocity (const ::boost::math::quaternion< double > quaternion)
virtual	~RotationalVelocity ()
Static Public Member Functions
static RotationalVelocityPtr	fromEulerAngles (double rotX, double rotY, double rotZ)
	Create orientation from given euler angles in .
static RotationalVelocityPtr	fromAxisAngle (double angle, double vexX, double vecY, double vecZ)
	Create orientation from given values in axis-angle representation in .
static RotationalVelocityPtr	fromCompactAxisAngle (double x, double y, double z)
	Create orientation from given values in compact axis-angle representation in .
static RotationalVelocityPtr	fromQuaternion (double q0, double q1, double q2, double q3)
	Create orientation from.
static RotationalVelocityPtr	fromQuaternion (const ::boost::math::quaternion< double > quaternion)
	Create orientation from.
Protected Member Functions
virtual std::string	print () const
	Printing the orientation object.

---

Detailed Description

Domain object, representing an rotational velocity in cartesian space as quaternions (for reference see http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation ).

Default representation is in , according to the International Unit System (SI).

Definition at line 85 of file CartesianVelocity.h.

---

Constructor & Destructor Documentation

rci::RotationalVelocity::RotationalVelocity

(

)

Definition at line 76 of file CartesianVelocity.cpp.

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

Here is the caller graph for this function:

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

Definition at line 83 of file CartesianVelocity.cpp.

rci::RotationalVelocity::RotationalVelocity

(

nemo::RealVector

values

)

rci::RotationalVelocity::RotationalVelocity

(

const RotationalVelocity &

orientation

)

Definition at line 92 of file CartesianVelocity.cpp.

References rci::CartesianRotational::asDouble().

Here is the call graph for this function:

rci::RotationalVelocity::RotationalVelocity

(

const ::boost::math::quaternion< double >

quaternion

)

Definition at line 98 of file CartesianVelocity.cpp.

rci::RotationalVelocity::~RotationalVelocity

(

)

[virtual]

Definition at line 80 of file CartesianVelocity.cpp.

---

Member Function Documentation

RotationalVelocityPtr rci::RotationalVelocity::fromAxisAngle	(	double	angle,
		double	vexX,
		double	vecY,
		double	vecZ
	)			[static]

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

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 125 of file CartesianVelocity.cpp.

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

Referenced by fromCompactAxisAngle().

Here is the call graph for this function:

Here is the caller graph for this function:

RotationalVelocityPtr rci::RotationalVelocity::fromCompactAxisAngle	(	double	x,
		double	y,
		double	z
	)			[static]

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

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

Definition at line 141 of file CartesianVelocity.cpp.

References fromAxisAngle().

Here is the call graph for this function:

RotationalVelocityPtr rci::RotationalVelocity::fromEulerAngles	(	double	rotX,
		double	rotY,
		double	rotZ
	)			[static]

Create orientation from given euler angles in .

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

Definition at line 111 of file CartesianVelocity.cpp.

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

Here is the call graph for this function:

RotationalVelocityPtr rci::RotationalVelocity::fromQuaternion

(

const ::boost::math::quaternion< double >

quaternion

)

[static]

Create orientation from.

Definition at line 154 of file CartesianVelocity.cpp.

References RotationalVelocity().

Here is the call graph for this function:

RotationalVelocityPtr rci::RotationalVelocity::fromQuaternion	(	double	q0,
		double	q1,
		double	q2,
		double	q3
	)			[static]

Create orientation from.

Definition at line 148 of file CartesianVelocity.cpp.

References RotationalVelocity().

Here is the call graph for this function:

std::string rci::RotationalVelocity::print

(

)

const [protected, virtual]

Printing the orientation object.

Returns:

Textual representation of this orientation.

Reimplemented from rci::CartesianRotational.

Definition at line 103 of file CartesianVelocity.cpp.

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

Here is the call graph for this function:

---

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

• rci/dto/CartesianVelocity.h
• rci/dto/CartesianVelocity.cpp