Robot Dynamics Library: RobotDynamics::Math::FrameOrientation Class Reference

A Frame object that represents an orientation(quaternion) relative to a reference frame. More...

#include <FrameOrientation.hpp>

Inheritance diagram for RobotDynamics::Math::FrameOrientation:

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Collaboration diagram for RobotDynamics::Math::FrameOrientation:

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Public Member Functions
	FrameOrientation ()

	FrameOrientation (ReferenceFramePtr referenceFrame)

	FrameOrientation (ReferenceFramePtr referenceFrame, Quaternion quat)

	FrameOrientation (ReferenceFramePtr referenceFrame, double x, double y, double z, double w)

	FrameOrientation (ReferenceFramePtr referenceFrame, const Matrix3d &E)

	FrameOrientation (ReferenceFramePtr referenceFrame, const AxisAngle &axis_angle)

	FrameOrientation (ReferenceFramePtr referenceFrame, Vector3d axis, double angle)

Math::TransformableGeometricObject *	getTransformableGeometricObject ()
	Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method. More...

void	setIncludingFrame (const Quaternion &q, ReferenceFramePtr referenceFrame)

void	setIncludingFrame (const Matrix3d &E, ReferenceFramePtr referenceFrame)

void	setIncludingFrame (const AxisAngle &axis_angle, ReferenceFramePtr referenceFrame)

void	setIncludingFrame (Vector3d axis, double angle, ReferenceFramePtr referenceFrame)

void	setOrientation (const Quaternion &o)

void	setOrientation (const Matrix3d &E)

void	setOrientation (const AxisAngle &axis_angle)

void	setOrientation (Vector3d axis, double angle)

FrameOrientation	changeFrameAndCopy (ReferenceFramePtr referenceFrame) const

Public Member Functions inherited from RobotDynamics::FrameObject
	FrameObject (ReferenceFramePtr referenceFrame)

virtual	~FrameObject ()
	Destructor. More...

virtual void	changeFrame (ReferenceFramePtr desiredFrame)
	Change the ReferenceFrame this FrameObject is expressed in. More...

ReferenceFramePtr	getReferenceFrame () const
	Get a pointer to the reference frame this FrameObject is expressed in. More...

void	setReferenceFrame (ReferenceFramePtr frame)
	Set frame objects internal reference frame. More...

void	checkReferenceFramesMatch (const FrameObject *frameObject) const
	Check if two FrameObjects hold the same ReferenceFrame. More...

void	checkReferenceFramesMatch (FrameObject *frameObject) const

Public Member Functions inherited from RobotDynamics::Math::Quaternion
	Quaternion ()
	Constructor. More...

	Quaternion (const Eigen::Quaterniond &q)

	Quaternion (const RobotDynamics::Math::Quaternion &q)

	Quaternion (const Eigen::Product< Eigen::Matrix< double, 3, 3 >, Eigen::Matrix< double, 3, 3 >, 0 > E)

	Quaternion (const Eigen::Matrix3d &E)

	Quaternion (const Eigen::Matrix3d::ConstTransposeReturnType &E)

	Quaternion (Eigen::Transpose< Eigen::Matrix< double, 3, 3 > > E)

	Quaternion (const Vector4d &v)

	Quaternion (const AxisAngle &axis_angle)

	Quaternion (Vector3d axis, double angle)

	Quaternion (double x, double y, double z, double w)
	Constructor. More...

AxisAngle	toAxisAngle () const

bool	isApprox (Quaternion o, double eps) const

bool	isApprox (Matrix3d E, double eps) const

EIGEN_STRONG_INLINE double &	x ()

EIGEN_STRONG_INLINE double	x () const

EIGEN_STRONG_INLINE double &	y ()

EIGEN_STRONG_INLINE double	y () const

EIGEN_STRONG_INLINE double &	z ()

EIGEN_STRONG_INLINE double	z () const

EIGEN_STRONG_INLINE double &	w ()

EIGEN_STRONG_INLINE double	w () const

EIGEN_STRONG_INLINE Vector3d	vec () const
	Get vector part. More...

Quaternion &	operator= (const Eigen::Quaterniond &q)

void	sanitize ()
	sanitize the quaternion by negating each element if the w element is less than zero More...

Quaternion &	operator= (const RobotDynamics::Math::Quaternion &q)

Quaternion &	operator= (const Vector4d &q)

Quaternion &	operator= (const Matrix3d &E)

Quaternion &	operator= (const AxisAngle &axis_angle)

Quaternion	operator* (const double &s) const
	Method to scale the elements of a quaternion by a constant. Normalization is NOT performed. More...

Quaternion	operator* (const Quaternion &q) const
	Quaternion multiplication. More...

Quaternion &	operator*= (const Quaternion &q)
	Overloaded *= operator for quaternion multiplication. More...

void	transform (const RobotDynamics::Math::SpatialTransform &X)
	Pure virtual object. This object forces objects that inherit from it to have a method that tells how that object is transformed. More...

Quaternion	slerp (double alpha, const Quaternion &quat) const
	From Wikipedia: In computer graphics, Slerp is shorthand for spherical linear interpolation, introduced by Ken Shoemake in the context of quaternion interpolation for the purpose of animating 3D rotation. It refers to constant-speed motion along a unit-radius great circle arc, given the ends and an interpolation parameter between 0 and 1. More...

Quaternion	conjugate () const

Quaternion	timeStep (const Vector3d &omega, double dt)

Vector3d	rotate (const Vector3d &vec) const

void	swingTwistDecomposition (const Vector3d &twist_axis, Quaternion &swing, Quaternion &twist)
	Decompose a quaternion into a swing then twist quaternion where the twist is about the given axis. More...

Vector3d	toIntrinsicZYXAngles (double yaw_at_pitch_singularity=0.) const
	Convert to intrinsic ZYX euler angles. More...

Public Member Functions inherited from RobotDynamics::Math::Vector4d
template<typename OtherDerived >
	Vector4d (const Eigen::MatrixBase< OtherDerived > &other)

template<typename OtherDerived >
Vector4d &	operator= (const Eigen::MatrixBase< OtherDerived > &other)

EIGEN_STRONG_INLINE	Vector4d ()

EIGEN_STRONG_INLINE	Vector4d (const double &v0, const double &v1, const double &v2, const double &v3)

void	set (const double &v0, const double &v1, const double &v2, const double &v3)

Additional Inherited Members
Public Types inherited from RobotDynamics::Math::Vector4d
typedef Eigen::Vector4d	Base

Protected Attributes inherited from RobotDynamics::FrameObject
ReferenceFramePtr	referenceFrame

Detailed Description

A Frame object that represents an orientation(quaternion) relative to a reference frame.

Constructor & Destructor Documentation

◆ FrameOrientation() [1/7]

RobotDynamics::Math::FrameOrientation::FrameOrientation ( )

inline

◆ FrameOrientation() [2/7]

RobotDynamics::Math::FrameOrientation::FrameOrientation ( ReferenceFramePtr referenceFrame )

inlineexplicit

◆ FrameOrientation() [3/7]

RobotDynamics::Math::FrameOrientation::FrameOrientation	(	ReferenceFramePtr	referenceFrame,
		Quaternion	quat
	)

inline

◆ FrameOrientation() [4/7]

RobotDynamics::Math::FrameOrientation::FrameOrientation	(	ReferenceFramePtr	referenceFrame,
		double	x,
		double	y,
		double	z,
		double	w
	)

inline

◆ FrameOrientation() [5/7]

RobotDynamics::Math::FrameOrientation::FrameOrientation	(	ReferenceFramePtr	referenceFrame,
		const Matrix3d &	E
	)

inline

◆ FrameOrientation() [6/7]

RobotDynamics::Math::FrameOrientation::FrameOrientation	(	ReferenceFramePtr	referenceFrame,
		const AxisAngle &	axis_angle
	)

inline

◆ FrameOrientation() [7/7]

RobotDynamics::Math::FrameOrientation::FrameOrientation	(	ReferenceFramePtr	referenceFrame,
		Vector3d	axis,
		double	angle
	)

inline

Member Function Documentation

◆ changeFrameAndCopy()

FrameOrientation RobotDynamics::Math::FrameOrientation::changeFrameAndCopy ( ReferenceFramePtr referenceFrame ) const

inline

◆ getTransformableGeometricObject()

Math::TransformableGeometricObject* RobotDynamics::Math::FrameOrientation::getTransformableGeometricObject ( )

inlinevirtual

Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method.

Returns

Implements RobotDynamics::FrameObject.

◆ setIncludingFrame() [1/4]

void RobotDynamics::Math::FrameOrientation::setIncludingFrame	(	const AxisAngle &	axis_angle,
		ReferenceFramePtr	referenceFrame
	)

inline

◆ setIncludingFrame() [2/4]

void RobotDynamics::Math::FrameOrientation::setIncludingFrame	(	const Matrix3d &	E,
		ReferenceFramePtr	referenceFrame
	)

inline

◆ setIncludingFrame() [3/4]

void RobotDynamics::Math::FrameOrientation::setIncludingFrame	(	const Quaternion &	q,
		ReferenceFramePtr	referenceFrame
	)

inline

◆ setIncludingFrame() [4/4]

void RobotDynamics::Math::FrameOrientation::setIncludingFrame	(	Vector3d	axis,
		double	angle,
		ReferenceFramePtr	referenceFrame
	)

inline

◆ setOrientation() [1/4]

void RobotDynamics::Math::FrameOrientation::setOrientation ( const AxisAngle & axis_angle )

inline

◆ setOrientation() [2/4]

void RobotDynamics::Math::FrameOrientation::setOrientation ( const Matrix3d & E )

inline

◆ setOrientation() [3/4]

void RobotDynamics::Math::FrameOrientation::setOrientation ( const Quaternion & o )

inline

◆ setOrientation() [4/4]

void RobotDynamics::Math::FrameOrientation::setOrientation	(	Vector3d	axis,
		double	angle
	)

inline

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

rdl_dynamics/include/rdl_dynamics/FrameOrientation.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FrameOrientation() [1/7]

◆ FrameOrientation() [2/7]

◆ FrameOrientation() [3/7]

◆ FrameOrientation() [4/7]

◆ FrameOrientation() [5/7]

◆ FrameOrientation() [6/7]

◆ FrameOrientation() [7/7]

Member Function Documentation

◆ changeFrameAndCopy()

◆ getTransformableGeometricObject()

◆ setIncludingFrame() [1/4]

◆ setIncludingFrame() [2/4]

◆ setIncludingFrame() [3/4]

◆ setIncludingFrame() [4/4]

◆ setOrientation() [1/4]

◆ setOrientation() [2/4]

◆ setOrientation() [3/4]

◆ setOrientation() [4/4]