rb::math::SO3 Class Reference

Public Types
using	MatrixType = Eigen::Matrix3d

Static Public Member Functions
template<typename Container , typename = std::enable_if_t<std::is_same_v<typename Container::value_type, MatrixType>>>
static 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)
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)
static so3v::MatrixType	Vec (const so3::MatrixType &r)

Member Function Documentation

FromRPY()

static MatrixType rb::math::SO3::FromRPY ( const Eigen::Vector3d & angles )

static

Calculate rotation from roll, pitch and yqw angles

Parameters

angles

[0] roll [1] pitch [2] yaw

Returns

ToRPY()

static Eigen::Vector3d rb::math::SO3::ToRPY ( const MatrixType & R )

static

Parameters

R

Returns

[0] roll [1] pitch [2] yaw

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

• /external/rby1-sdk/include/rby1-sdk/math/so3.h