math::SO3#

rb::math::SO3 provides rotation-matrix helpers for 3D orientation work. Use it when you need rotation construction, conversion, exponential or logarithmic maps, or projection back onto SO(3).

Header

#include <rby1-sdk/math/so3.h>

Declaration

Namespace	`rb::math`
Kind	`class`
Primary role	Provide static helpers for 3D rotation operations.

Member Types

Type	Purpose	Notes
`MatrixType`	Matrix representation used by the rotation helpers.	Returned by the construction methods on this page.

Public Member Functions

Method group	Purpose	Notes
`Identity()`, `Inverse(...)`, `Projection(...)`	Create or sanitize rotation matrices.	Use `Projection(...)` after noisy numeric operations.
`RotX/Y/Z(...)` and `FromRPY(...)` / `ToRPY(...)`	Convert to or from standard axis-angle or roll-pitch-yaw forms.	Good entry point for user-facing rotations.
`FromQuaternion(...)` / `ToQuaternion(...)` and Euler helpers	Convert between matrix and alternate orientation parameterizations.	Covers both quaternion and Euler-angle conventions.
`Exp(...)`, `Log(...)`, `Hat(...)`, `Vec(...)`	Work in the Lie algebra and tangent space.	Useful in estimators and geometric controllers.
`Average(...)` and axis getters	Average multiple rotations or inspect basis axes.	Convenient analysis utilities.

Detailed Reference

class SO3#

Public Types

using MatrixType = Eigen::Matrix3d#

Public Static Functions

template<typename Container, typename = std::enable_if_t<std::is_same_v<typename Container::value_type, MatrixType>>> static inline std::optional<MatrixType> Average(const Container &matrices, double eps, int max_iter = -1)#

static MatrixType Exp(so3v::MatrixType w, double angle = 1.0)#

static MatrixType FromEulerAngle(const Eigen::Vector3d &angles, EulerAngleType type)#

static MatrixType FromQuaternion(const Eigen::Quaterniond &q)#

static MatrixType FromRPY(const Eigen::Vector3d &angles)#

Calculate rotation from roll, pitch and yqw angles

Parameters:: angles – [0] roll [1] pitch [2] yaw
Returns:

static Eigen::Vector3d GetX(const MatrixType &R)#

static Eigen::Vector3d GetY(const MatrixType &R)#

static Eigen::Vector3d GetZ(const MatrixType &R)#

static so3::MatrixType Hat(const so3v::MatrixType &w)#

static MatrixType Identity()#

static MatrixType Inverse(const MatrixType &R)#

static so3v::MatrixType Log(const MatrixType &R)#

static MatrixType Projection(const MatrixType &m)#

static MatrixType RotX(double angle)#

static MatrixType RotY(double angle)#

static MatrixType RotZ(double angle)#

static Eigen::Vector3d ToEulerAngle(const MatrixType &R, EulerAngleType type)#

static Eigen::Quaterniond ToQuaternion(const MatrixType &R)#

static Eigen::Vector3d ToRPY(const MatrixType &R)#

Parameters:: R –
Returns:: [0] roll [1] pitch [2] yaw

static so3v::MatrixType Vec(const so3::MatrixType &r)#

Related Types

Examples

so3.cpp is the direct example for this page.