RobotDynamics::Math::Matrix3d Class Reference

#include <rdl_eigenmath.hpp>

Inheritance diagram for RobotDynamics::Math::Matrix3d:

Collaboration diagram for RobotDynamics::Math::Matrix3d:

Public Types
typedef Eigen::Matrix3d	Base

Public Member Functions
template<typename OtherDerived >
	Matrix3d (const Eigen::MatrixBase< OtherDerived > &other)
	Matrix3d (const Quaternion &o)
	Matrix3d (const AxisAngle &a)
template<typename OtherDerived >
Matrix3d &	operator= (const Eigen::MatrixBase< OtherDerived > &other)
EIGEN_STRONG_INLINE	Matrix3d ()
EIGEN_STRONG_INLINE	Matrix3d (const double &m00, const double &m01, const double &m02, const double &m10, const double &m11, const double &m12, const double &m20, const double &m21, const double &m22)
Vector3d	toIntrinsicZYXAngles (double yaw_at_pitch_singularity=0.) const
	Convert rotation matrix to intrinsic ZYX euler angles. More...

Member Typedef Documentation

Base

typedef Eigen::Matrix3d RobotDynamics::Math::Matrix3d::Base

Constructor & Destructor Documentation

Matrix3d() [1/5]

template<typename OtherDerived >

RobotDynamics::Math::Matrix3d::Matrix3d ( const Eigen::MatrixBase< OtherDerived > &  other )

inline

Matrix3d() [2/5]

RobotDynamics::Math::Matrix3d::Matrix3d

(

const Quaternion &

o

)

Matrix3d() [3/5]

RobotDynamics::Math::Matrix3d::Matrix3d ( const AxisAngle &  a )

inline

Matrix3d() [4/5]

EIGEN_STRONG_INLINE RobotDynamics::Math::Matrix3d::Matrix3d ( )

inline

Matrix3d() [5/5]

EIGEN_STRONG_INLINE RobotDynamics::Math::Matrix3d::Matrix3d ( const double &  m00, const double &  m01, const double &  m02, const double &  m10, const double &  m11, const double &  m12, const double &  m20, const double &  m21, const double &  m22  )

inline

Member Function Documentation

operator=()

template<typename OtherDerived >

Matrix3d& RobotDynamics::Math::Matrix3d::operator= ( const Eigen::MatrixBase< OtherDerived > &  other )

inline

toIntrinsicZYXAngles()

Vector3d RobotDynamics::Math::Matrix3d::toIntrinsicZYXAngles

(

double

yaw_at_pitch_singularity = 0.

)

const

Convert rotation matrix to intrinsic ZYX euler angles.

Parameters

m	Rotation matrix to convert
yaw_at_pitch_singularity	At Y = +- PI/2 is a singularity in which there are multiple solutions. This will be the yaw value in the output and the roll value is dependent on this. To get the most accurate results at singularity, provide this value as close as possible to desired/reality and the resulting roll value will be near the expected

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

• rdl_dynamics/include/rdl_dynamics/rdl_eigenmath.hpp
• rdl_dynamics/src/rdl_eigenmath.cpp