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::Quaternion &	quat () 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...

Constructor & Destructor Documentation

Rotation()

Rotation

(

)

Default constructor, creating an identity Rotation.

Member Function Documentation

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:

• lane_data.h
• lane_data.cc