represents rotations in 3 dimensional space. More...
#include <frames.hpp>
Public Member Functions | |
| void | DoRotX (double angle) |
| The DoRot. | |
| void | DoRotY (double angle) |
| The DoRot. | |
| void | DoRotZ (double angle) |
| The DoRot. | |
| void | GetEulerZYX (double &Alfa, double &Beta, double &Gamma) const |
| GetEulerZYX gets the euler ZYX parameters of a rotation : First rotate around Z with alfa, then around the new Y with beta, then around new X with gamma. | |
| void | GetEulerZYZ (double &alfa, double &beta, double &gamma) const |
| Gives back the EulerZYZ convention description of the rotation matrix : First rotate around Z with alfa, then around the new Y with beta, then around new Z with gamma. | |
| void | GetQuaternion (double &x, double &y, double &z, double &w) const |
| Get the quaternion of this matrix. | |
| Vector | GetRot () const |
| Returns a vector with the direction of the equiv. | |
| double | GetRotAngle (Vector &axis, double eps=epsilon) const |
| Returns the rotation angle around the equiv. | |
| void | GetRPY (double &roll, double &pitch, double &yaw) const |
| Gives back a vector in RPY coordinates, variables are bound by -PI <= roll <= PI -PI <= Yaw <= PI -PI/2 <= PITCH <= PI/2. | |
| Twist | Inverse (const Twist &arg) const |
| The same as R.Inverse()*arg but more efficient. | |
| Wrench | Inverse (const Wrench &arg) const |
| The same as R.Inverse()*arg but more efficient. | |
| Vector | Inverse (const Vector &v) const |
| The same as R.Inverse()*v but more efficient. | |
| Rotation | Inverse () const |
| Gives back the inverse rotation matrix of *this. | |
| double | operator() (int i, int j) const |
| Access to elements 0..2,0..2, bounds are checked when NDEBUG is not set. | |
| double & | operator() (int i, int j) |
| Access to elements 0..2,0..2, bounds are checked when NDEBUG is not set. | |
| Wrench | operator* (const Wrench &arg) const |
| Transformation of the base to which the wrench is expressed. | |
| Twist | operator* (const Twist &arg) const |
| Transformation of the base to which the twist is expressed. | |
| Vector | operator* (const Vector &v) const |
| Defines a multiplication R*V between a Rotation R and a Vector V. | |
| Rotation & | operator= (const Rotation &arg) |
| Rotation (const Vector &x, const Vector &y, const Vector &z) | |
| Rotation (double Xx, double Yx, double Zx, double Xy, double Yy, double Zy, double Xz, double Yz, double Zz) | |
| Rotation () | |
| void | SetInverse () |
| Sets the value of *this to its inverse. | |
| void | UnitX (const Vector &X) |
| Access to the underlying unitvectors of the rotation matrix. | |
| Vector | UnitX () const |
| Access to the underlying unitvectors of the rotation matrix. | |
| void | UnitY (const Vector &X) |
| Access to the underlying unitvectors of the rotation matrix. | |
| Vector | UnitY () const |
| Access to the underlying unitvectors of the rotation matrix. | |
| void | UnitZ (const Vector &X) |
| Access to the underlying unitvectors of the rotation matrix. | |
| Vector | UnitZ () const |
| Access to the underlying unitvectors of the rotation matrix. | |
Static Public Member Functions | |
| static Rotation | EulerZYX (double Alfa, double Beta, double Gamma) |
| Gives back a rotation matrix specified with EulerZYX convention : First rotate around Z with alfa, then around the new Y with beta, then around new X with gamma. | |
| static Rotation | EulerZYZ (double Alfa, double Beta, double Gamma) |
| Gives back a rotation matrix specified with EulerZYZ convention : First rotate around Z with alfa, then around the new Y with beta, then around new Z with gamma. | |
| static Rotation | Identity () |
| Gives back an identity rotaton matrix. | |
| static Rotation | Quaternion (double x, double y, double z, double w) |
| Sets the value of this object to a rotation specified with Quaternion convention the norm of (x,y,z,w) should be equal to 1. | |
| static Rotation | Rot (const Vector &rotvec, double angle) |
| Along an arbitrary axes. | |
| static Rotation | Rot2 (const Vector &rotvec, double angle) |
| Along an arbitrary axes. rotvec should be normalized. | |
| static Rotation | RotX (double angle) |
| The Rot... static functions give the value of the appropriate rotation matrix back. | |
| static Rotation | RotY (double angle) |
| The Rot... static functions give the value of the appropriate rotation matrix back. | |
| static Rotation | RotZ (double angle) |
| The Rot... static functions give the value of the appropriate rotation matrix back. | |
| static Rotation | RPY (double roll, double pitch, double yaw) |
| Sets the value of this object to a rotation specified with RPY convention: first rotate around X with roll, then around the old Y with pitch, then around old Z with alfa. | |
Public Attributes | |
| double | data [9] |
Friends | |
| bool | Equal (const Rotation &a, const Rotation &b, double eps=epsilon) |
| do not use operator == because the definition of Equal(.,. | |
| class | Frame |
| bool | operator!= (const Rotation &a, const Rotation &b) |
| The literal inequality operator!=(). | |
| Rotation | operator* (const Rotation &lhs, const Rotation &rhs) |
| bool | operator== (const Rotation &a, const Rotation &b) |
| The literal equality operator==(), also identical. | |
represents rotations in 3 dimensional space.
This class represents a rotation matrix with the following conventions :
Suppose V2 = R*V, (1)
V is expressed in frame B
V2 is expressed in frame A
This matrix R consists of 3 collumns [ X,Y,Z ],
X,Y, and Z contain the axes of frame B, expressed in frame A
Because of linearity expr(1) is valid.
This class only represents rotational_interpolation, not translation Two interpretations are possible for rotation angles. if you rotate with angle around X frame A to have frame B, then the result of SetRotX is equal to frame B expressed wrt A. In code:
Rotation R;
F_A_B = R.SetRotX(angle);
Secondly, if you take the following code :
Vector p,p2; Rotation R;
R.SetRotX(angle);
p2 = R*p;
then the frame p2 is rotated around X axis with (-angle). Analogue reasonings can be applyd to SetRotY,SetRotZ,SetRot
Definition at line 292 of file frames.hpp.
| KDL::Rotation::Rotation | ( | ) | [inline] |
Definition at line 297 of file frames.hpp.
References Identity().
Referenced by EulerZYZ(), Identity(), Quaternion(), Rot2(), RotX(), RotY(), RotZ(), and RPY().
| KDL::Rotation::Rotation | ( | double | Xx, | |
| double | Yx, | |||
| double | Zx, | |||
| double | Xy, | |||
| double | Yy, | |||
| double | Zy, | |||
| double | Xz, | |||
| double | Yz, | |||
| double | Zz | |||
| ) | [inline] |
Definition at line 493 of file frames.inl.
References data.
Definition at line 503 of file frames.inl.
References KDL::Vector::data, and data.
| void KDL::Rotation::DoRotX | ( | double | angle | ) | [inline] |
The DoRot.
.. functions apply a rotation R to *this,such that *this = *this * Rot.. DoRot... functions are only defined when they can be executed more efficiently
Definition at line 546 of file frames.inl.
References KDL::cos(), and KDL::sin().
Referenced by KDL::RotationVel::DoRotX().
| void KDL::Rotation::DoRotY | ( | double | angle | ) | [inline] |
The DoRot.
.. functions apply a rotation R to *this,such that *this = *this * Rot.. DoRot... functions are only defined when they can be executed more efficiently
Definition at line 562 of file frames.inl.
References KDL::cos(), and KDL::sin().
Referenced by KDL::RotationVel::DoRotY().
| void KDL::Rotation::DoRotZ | ( | double | angle | ) | [inline] |
The DoRot.
.. functions apply a rotation R to *this,such that *this = *this * Rot.. DoRot... functions are only defined when they can be executed more efficiently
Definition at line 578 of file frames.inl.
References KDL::cos(), and KDL::sin().
Referenced by KDL::RotationVel::DoRotZ().
| static Rotation KDL::Rotation::EulerZYX | ( | double | Alfa, | |
| double | Beta, | |||
| double | Gamma | |||
| ) | [inline, static] |
Gives back a rotation matrix specified with EulerZYX convention : First rotate around Z with alfa, then around the new Y with beta, then around new X with gamma.
closely related to RPY-convention
Definition at line 427 of file frames.hpp.
References RPY().
Referenced by KDL::posrandom(), and KDL::random().
| Rotation KDL::Rotation::EulerZYZ | ( | double | Alfa, | |
| double | Beta, | |||
| double | Gamma | |||
| ) | [static] |
Gives back a rotation matrix specified with EulerZYZ convention : First rotate around Z with alfa, then around the new Y with beta, then around new Z with gamma.
Definition at line 252 of file frames.cpp.
References KDL::cos(), Rotation(), and KDL::sin().
| void KDL::Rotation::GetEulerZYX | ( | double & | Alfa, | |
| double & | Beta, | |||
| double & | Gamma | |||
| ) | const [inline] |
GetEulerZYX gets the euler ZYX parameters of a rotation : First rotate around Z with alfa, then around the new Y with beta, then around new X with gamma.
Range of the results of GetEulerZYX : -PI <= alfa <= PI -PI <= gamma <= PI -PI/2 <= beta <= PI/2
Closely related to RPY-convention.
Definition at line 442 of file frames.hpp.
References GetRPY().
| void KDL::Rotation::GetEulerZYZ | ( | double & | alfa, | |
| double & | beta, | |||
| double & | gamma | |||
| ) | const |
Gives back the EulerZYZ convention description of the rotation matrix : First rotate around Z with alfa, then around the new Y with beta, then around new Z with gamma.
Variables are bound by (-PI <= alfa <= PI), (0 <= beta <= PI), (-PI <= alfa <= PI)
Definition at line 265 of file frames.cpp.
References KDL::atan2(), data, KDL::epsilon, KDL::PI, KDL::sqr(), and KDL::sqrt().
| void KDL::Rotation::GetQuaternion | ( | double & | x, | |
| double & | y, | |||
| double & | z, | |||
| double & | w | |||
| ) | const |
Get the quaternion of this matrix.
Definition at line 195 of file frames.cpp.
References KDL::epsilon, SketcherExample::f, KDL::sqrt(), and Py::trace().
| Vector KDL::Rotation::GetRot | ( | ) | const |
Returns a vector with the direction of the equiv.
axis and its norm is angle
Definition at line 325 of file frames.cpp.
References KDL::atan2(), data, KDL::epsilon, and KDL::Vector::Norm().
Referenced by KDL::diff().
Returns the rotation angle around the equiv.
axis
| axis | the rotation axis is returned in this variable | |
| eps | : in the case of angle == 0 : rot axis is undefined and choosen to be +/- Z-axis in the case of angle == PI : 2 solutions, positive Z-component of the axis is choosen. |
axis
| axis | the rotation axis is returned in this variable | |
| eps | : in the case of angle == 0 : rot axis is undefined and choosen to be +/- Z-axis in the case of angle == PI : 2 solutions, positive Z-component of the axis is choosen. |
Definition at line 355 of file frames.cpp.
References KDL::acos(), draftlibs::fcvec::angle(), data, KDL::PI, KDL::sin(), KDL::sqrt(), MovieTool::x, and MovieTool::y.
Referenced by KDL::RotationalInterpolation_SingleAxis::SetStartEnd().
| void KDL::Rotation::GetRPY | ( | double & | roll, | |
| double & | pitch, | |||
| double & | yaw | |||
| ) | const |
Gives back a vector in RPY coordinates, variables are bound by -PI <= roll <= PI -PI <= Yaw <= PI -PI/2 <= PITCH <= PI/2.
convention : first rotate around X with roll, then around the old Y with pitch, then around old Z with alfa
Definition at line 239 of file frames.cpp.
References KDL::atan2(), data, KDL::epsilon, KDL::PI, KDL::sign(), KDL::sqr(), and KDL::sqrt().
Referenced by GetEulerZYX().
| Rotation KDL::Rotation::Identity | ( | ) | [inline, static] |
Gives back an identity rotaton matrix.
Definition at line 542 of file frames.inl.
References Rotation().
Referenced by KDL::RotationVel::Identity(), KDL::Frame::Identity(), KDL::RotationAcc::Identity(), and Rotation().
The same as R.Inverse()*arg but more efficient.
Definition at line 175 of file frames.inl.
References Inverse(), KDL::Twist::rot, and KDL::Twist::vel.
The same as R.Inverse()*arg but more efficient.
Definition at line 170 of file frames.inl.
References KDL::Wrench::force, Inverse(), and KDL::Wrench::torque.
The same as R.Inverse()*v but more efficient.
Definition at line 634 of file frames.inl.
References KDL::Vector::data, and data.
| Rotation KDL::Rotation::Inverse | ( | ) | const [inline] |
Gives back the inverse rotation matrix of *this.
Definition at line 627 of file frames.inl.
References SetInverse().
Referenced by KDL::addDelta(), KDL::diff(), KDL::RotationVel::Inverse(), Inverse(), KDL::Frame::Inverse(), KDL::RotationAcc::Inverse(), and KDL::RotationalInterpolation_SingleAxis::SetStartEnd().
| double KDL::Rotation::operator() | ( | int | i, | |
| int | j | |||
| ) | const [inline] |
Access to elements 0..2,0..2, bounds are checked when NDEBUG is not set.
Definition at line 488 of file frames.inl.
References data, and FRAMES_CHECKI.
| double & KDL::Rotation::operator() | ( | int | i, | |
| int | j | |||
| ) | [inline] |
Access to elements 0..2,0..2, bounds are checked when NDEBUG is not set.
Definition at line 483 of file frames.inl.
References data, and FRAMES_CHECKI.
Transformation of the base to which the wrench is expressed.
Complexity : 18M+12A
Definition at line 534 of file frames.inl.
Transformation of the base to which the twist is expressed.
Complexity : 18M+12A
Definition at line 525 of file frames.inl.
Defines a multiplication R*V between a Rotation R and a Vector V.
Complexity : 9M+6A
Definition at line 516 of file frames.inl.
References KDL::Vector::data, and data.
Definition at line 510 of file frames.inl.
References RobotExampleTrajectoryOutOfShapes::count, and data.
| Rotation KDL::Rotation::Quaternion | ( | double | x, | |
| double | y, | |||
| double | z, | |||
| double | w | |||
| ) | [static] |
Sets the value of this object to a rotation specified with Quaternion convention the norm of (x,y,z,w) should be equal to 1.
Definition at line 181 of file frames.cpp.
References Rotation().
Referenced by Robot::Robot6Axis::setTo(), and Robot::toFrame().
Along an arbitrary axes.
It is not necessary to normalize rotvec. returns identity rotation matrix in the case that the norm of rotvec is to small to be used.
Definition at line 282 of file frames.cpp.
References KDL::Vector::Normalize(), and Rot2().
Referenced by KDL::Frame::Integrate(), and KDL::Path_Line::Path_Line().
Along an arbitrary axes. rotvec should be normalized.
Definition at line 292 of file frames.cpp.
References KDL::cos(), Rotation(), and KDL::sin().
Referenced by KDL::Joint::Joint(), KDL::RotationalInterpolation_SingleAxis::Pos(), KDL::Joint::pose(), KDL::RotationVel::Rot(), Rot(), and KDL::RotationVel::Rot2().
| Rotation KDL::Rotation::RotX | ( | double | angle | ) | [inline, static] |
The Rot... static functions give the value of the appropriate rotation matrix back.
Definition at line 595 of file frames.inl.
References KDL::cos(), Rotation(), and KDL::sin().
Referenced by KDL::Joint::pose(), KDL::RotationVel::RotX(), and KDL::RotationVel::RotY().
| Rotation KDL::Rotation::RotY | ( | double | angle | ) | [inline, static] |
The Rot... static functions give the value of the appropriate rotation matrix back.
Definition at line 600 of file frames.inl.
References KDL::cos(), Rotation(), and KDL::sin().
Referenced by KDL::Joint::pose().
| Rotation KDL::Rotation::RotZ | ( | double | angle | ) | [inline, static] |
The Rot... static functions give the value of the appropriate rotation matrix back.
Definition at line 605 of file frames.inl.
References KDL::cos(), Rotation(), and KDL::sin().
Referenced by KDL::Joint::pose(), and KDL::RotationVel::RotZ().
| Rotation KDL::Rotation::RPY | ( | double | roll, | |
| double | pitch, | |||
| double | yaw | |||
| ) | [static] |
Sets the value of this object to a rotation specified with RPY convention: first rotate around X with roll, then around the old Y with pitch, then around old Z with alfa.
Definition at line 227 of file frames.cpp.
References KDL::cos(), Rotation(), and KDL::sin().
Referenced by EulerZYX().
| void KDL::Rotation::SetInverse | ( | ) | [inline] |
Sets the value of *this to its inverse.
Definition at line 643 of file frames.inl.
References data.
Referenced by Inverse().
| void KDL::Rotation::UnitX | ( | const Vector & | X | ) | [inline] |
Access to the underlying unitvectors of the rotation matrix.
Definition at line 464 of file frames.hpp.
References data.
| Vector KDL::Rotation::UnitX | ( | ) | const [inline] |
Access to the underlying unitvectors of the rotation matrix.
Definition at line 459 of file frames.hpp.
References data.
Referenced by KDL::RotationVel::UnitX().
| void KDL::Rotation::UnitY | ( | const Vector & | X | ) | [inline] |
Access to the underlying unitvectors of the rotation matrix.
Definition at line 476 of file frames.hpp.
References data.
| Vector KDL::Rotation::UnitY | ( | ) | const [inline] |
Access to the underlying unitvectors of the rotation matrix.
Definition at line 471 of file frames.hpp.
References data.
Referenced by KDL::Path_Circle::Clone(), KDL::RotationVel::UnitY(), and KDL::Path_Circle::Write().
| void KDL::Rotation::UnitZ | ( | const Vector & | X | ) | [inline] |
Access to the underlying unitvectors of the rotation matrix.
Definition at line 488 of file frames.hpp.
References data.
| Vector KDL::Rotation::UnitZ | ( | ) | const [inline] |
Access to the underlying unitvectors of the rotation matrix.
Definition at line 483 of file frames.hpp.
References data.
Referenced by KDL::RotationVel::UnitZ().
do not use operator == because the definition of Equal(.,.
) is slightly different. It compares whether the 2 arguments are equal in an eps-interval
friend class Frame [friend] |
Definition at line 503 of file frames.hpp.
The literal inequality operator!=().
The literal equality operator==(), also identical.
| double KDL::Rotation::data[9] |
Definition at line 295 of file frames.hpp.
Referenced by KDL::Equal(), GetEulerZYZ(), GetRot(), GetRotAngle(), GetRPY(), Inverse(), operator()(), operator*(), KDL::operator*(), operator=(), Rotation(), SetInverse(), UnitX(), UnitY(), and UnitZ().
1.6.1