maliput
Rotation Class Reference

## Detailed Description

A 3-dimensional rotation.

#include <include/maliput/api/lane_data.h>

## Public Member Functions

Rotation ()
Default constructor, creating an identity Rotation. More...

const math::Quaternionquat () const
Provides a quaternion representation of the rotation. More...

void set_quat (const math::Quaternion &quaternion)
Sets value from a math::Quaternion quaternion (which will be normalized). More...

math::Matrix3 matrix () const
Provides a 3x3 rotation matrix representation of "this" rotation. More...

math::RollPitchYaw rpy () const
Provides a representation of rotation as a vector of angles [roll, pitch, yaw] (in radians). More...

double roll () const
Returns the roll component of the Rotation (in radians). More...

double pitch () const
Returns the pitch component of the Rotation (in radians). More...

double yaw () const
Returns the yaw component of the Rotation (in radians). More...

InertialPosition Apply (const InertialPosition &inertial_position) const
Returns the rotated inertial_position InertialPosition in the Inertial-frame. More...

Rotation Reverse () const
Returns the rotation corresponding to "going the other way instead", i.e., the orientation of (-s,-r,h). More...

double Distance (const Rotation &rot) const
Let $R_1$ be this rotation description, and let rot be $R_2$, another rotation description in the Inertial-frame. More...

## Static Public Member Functions

static Rotation FromQuat (const math::Quaternion &quaternion)
Constructs a Rotation from a math::Quaternion quaternion (which will be normalized). More...

static Rotation FromRpy (const math::Vector3 &rpy)
Constructs a Rotation from rpy, a vector of [roll, pitch, yaw], expressing a roll around X, followed by pitch around Y, followed by yaw around Z (with all angles in radians). More...

static Rotation FromRpy (double roll, double pitch, double yaw)
Constructs a Rotation expressing a roll around X, followed by pitch around Y, followed by yaw around Z (with all angles in radians). More...

## ◆ Rotation()

 Rotation ( )

Default constructor, creating an identity Rotation.

## ◆ Apply()

 InertialPosition Apply ( const InertialPosition & inertial_position ) const

Returns the rotated inertial_position InertialPosition in the Inertial-frame.

## ◆ Distance()

 double Distance ( const Rotation & rot ) const

Let $R_1$ be this rotation description, and let rot be $R_2$, another rotation description in the Inertial-frame.

Let $F_W_1$ and $F_W_2$ be the versors describing the basis of the Inertial-frame. Then, let $F_R_1$ and $F_R_2$ be the rotated $F_W_1$ and $F_W_2$ by $R_1$ and $R_2$ respectively. This method returns the root square sum of each angle between versors in $F_R_1$ and $F_R_2$.

## ◆ FromQuat()

 static Rotation FromQuat ( const math::Quaternion & quaternion )
static

Constructs a Rotation from a math::Quaternion quaternion (which will be normalized).

## ◆ FromRpy() [1/2]

 static Rotation FromRpy ( const math::Vector3 & rpy )
static

Constructs a Rotation from rpy, a vector of [roll, pitch, yaw], expressing a roll around X, followed by pitch around Y, followed by yaw around Z (with all angles in radians).

## ◆ FromRpy() [2/2]

 static Rotation FromRpy ( double roll, double pitch, double yaw )
static

Constructs a Rotation expressing a roll around X, followed by pitch around Y, followed by yaw around Z (with all angles in radians).

## ◆ matrix()

 math::Matrix3 matrix ( ) const

Provides a 3x3 rotation matrix representation of "this" rotation.

## ◆ pitch()

 double pitch ( ) const

Returns the pitch component of the Rotation (in radians).

## ◆ quat()

 const math::Quaternion& quat ( ) const

Provides a quaternion representation of the rotation.

## ◆ Reverse()

 Rotation Reverse ( ) const

Returns the rotation corresponding to "going the other way instead", i.e., the orientation of (-s,-r,h).

This is equivalent to a pre-rotation by PI in the s/r plane.

## ◆ roll()

 double roll ( ) const

Returns the roll component of the Rotation (in radians).

## ◆ rpy()

 math::RollPitchYaw rpy ( ) const

Provides a representation of rotation as a vector of angles [roll, pitch, yaw] (in radians).

## ◆ set_quat()

 void set_quat ( const math::Quaternion & quaternion )

Sets value from a math::Quaternion quaternion (which will be normalized).

## ◆ yaw()

 double yaw ( ) const

Returns the yaw component of the Rotation (in radians).

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