maliput

This class represents the orientation between two arbitrary frames A and D associated with a Spacefixed (extrinsic) XYZ rotation by "rollpitchyaw" angles [r, p, y]
, which is equivalent to a Bodyfixed (intrinsic) ZYX rotation by "yawpitchroll" angles [y, p, r]
.
The rotation matrix R_AD
associated with this rollpitchyaw [r, p, y]
rotation sequence is equal to the matrix multiplication shown below.
#include <include/maliput/math/roll_pitch_yaw.h>
Public Member Functions  
MALIPUT_DEFAULT_COPY_AND_MOVE_AND_ASSIGN (RollPitchYaw)  
RollPitchYaw ()=default  
Constructs a RollPitchYaw with zeros for each angle. More...  
RollPitchYaw (const Vector3 &rpy)  
Constructs a RollPitchYaw from a 3x1 array of angles. More...  
RollPitchYaw (double roll, double pitch, double yaw)  
Constructs a RollPitchYaw from roll, pitch, yaw angles in radians. More...  
RollPitchYaw (const Quaternion &quaternion)  
Uses a Quaternion to construct a RollPitchYaw with rollpitchyaw angles [r, p, y] in the range π <= r <= π , π/2 <= p <= π/2 , π <= y <= n . More...  
RollPitchYaw &  set (const Vector3 &rpy) 
Sets this RollPitchYaw from a 3x1 array of angles. More...  
RollPitchYaw &  set (double roll, double pitch, double yaw) 
Sets this RollPitchYaw from roll, pitch, yaw angles in radians. More...  
void  SetFromQuaternion (const Quaternion &quaternion) 
Uses a Quaternion to set this RollPitchYaw with rollpitchyaw angles [r, p, y] in the range π <= r <= π , π/2 <= p <= π/2 , π <= y <= n . More...  
const Vector3 &  vector () const 
Returns the Vector3 underlying this RollPitchYaw. More...  
double  roll_angle () const 
Returns the rollangle underlying this RollPitchYaw. More...  
double  pitch_angle () const 
Returns the pitchangle underlying this RollPitchYaw. More...  
double  yaw_angle () const 
Returns the yawangle underlying this RollPitchYaw. More...  
double &  roll_angle () 
Mutable reference to roll angle. More...  
double &  pitch_angle () 
Mutable reference to pitch angle. More...  
double &  yaw_angle () 
Mutable reference to yaw angle. More...  
Matrix3  ToMatrix () const 
Returns the 3x3 matrix representation of the rotation matrix that corresponds to this RollPitchYaw. More...  
Quaternion  ToQuaternion () const 
Returns a quaternion representation of this RollPitchYaw. More...  
Matrix3  CalcRotationMatrixDt (const Vector3 &rpyDt) const 
Forms Ṙ, the ordinary derivative of the RotationMatrix R with respect to an independent variable t (t usually denotes time) and R is the RotationMatrix formed by this RollPitchYaw. More...  
Static Public Attributes  
static constexpr double  kTolerance = 1e15 
Tolerance value to determine nearness to the gimballock singularity as cos(pitch_angle) > 0. More...  

default 
Constructs a RollPitchYaw with zeros for each angle.

explicit 
Constructs a RollPitchYaw from a 3x1 array of angles.
[in]  rpy  3x1 array with roll, pitch, yaw angles in radians. 
RollPitchYaw  (  double  roll, 
double  pitch,  
double  yaw  
) 
Constructs a RollPitchYaw from roll, pitch, yaw angles in radians.
[in]  roll  xdirected angle in the SpaceXYZ rotation sequence. 
[in]  pitch  ydirected angle in the SpaceXYZ rotation sequence. 
[in]  yaw  zdirected angle in the SpaceXYZ rotation sequence. 

explicit 
Uses a Quaternion to construct a RollPitchYaw with rollpitchyaw angles [r, p, y]
in the range π <= r <= π
, π/2 <= p <= π/2
, π <= y <= n
.
[in]  quaternion  unit Quaternion. 
Forms Ṙ, the ordinary derivative of the RotationMatrix R
with respect to an independent variable t
(t
usually denotes time) and R
is the RotationMatrix formed by this
RollPitchYaw.
The rollpitchyaw angles r, p, y are regarded as functions of t
[i.e., r(t), p(t), y(t)].
[in]  rpyDt  Ordinary derivative of rpy with respect to an independent variable t (t usually denotes time, but not necessarily). 
R
with respect to t
, calculated as Ṙ = ∂R/∂r * ṙ + ∂R/∂p * ṗ + ∂R/∂y * ẏ. In other words, the returned (i, j) element is ∂Rij/∂r * ṙ + ∂Rij/∂p * ṗ + ∂Rij/∂y * ẏ. MALIPUT_DEFAULT_COPY_AND_MOVE_AND_ASSIGN  (  RollPitchYaw  ) 
double& pitch_angle  (  ) 
Mutable reference to pitch angle.
double pitch_angle  (  )  const 
Returns the pitchangle underlying this RollPitchYaw.
double& roll_angle  (  ) 
Mutable reference to roll angle.
double roll_angle  (  )  const 
Returns the rollangle underlying this RollPitchYaw.
RollPitchYaw & set  (  const Vector3 &  rpy  ) 
Sets this RollPitchYaw from a 3x1 array of angles.
[in]  rpy  3x1 array with roll, pitch, yaw angles in radians. 
RollPitchYaw & set  (  double  roll, 
double  pitch,  
double  yaw  
) 
Sets this RollPitchYaw from roll, pitch, yaw angles in radians.
[in]  roll  xdirected angle in the SpaceXYZ rotation sequence. 
[in]  pitch  ydirected angle in the SpaceXYZ rotation sequence. 
[in]  yaw  zdirected angle in the SpaceXYZ rotation sequence. 
void SetFromQuaternion  (  const Quaternion &  quaternion  ) 
Uses a Quaternion to set this RollPitchYaw with rollpitchyaw angles [r, p, y]
in the range π <= r <= π
, π/2 <= p <= π/2
, π <= y <= n
.
[in]  quaternion  unit Quaternion. 
Matrix3 ToMatrix  (  )  const 
Returns the 3x3 matrix representation of the rotation matrix that corresponds to this RollPitchYaw.
Quaternion ToQuaternion  (  )  const 
Returns a quaternion representation of this RollPitchYaw.
const Vector3 & vector  (  )  const 
Returns the Vector3 underlying this RollPitchYaw.
double& yaw_angle  (  ) 
Mutable reference to yaw angle.
double yaw_angle  (  )  const 
Returns the yawangle underlying this RollPitchYaw.

staticconstexpr 
Tolerance value to determine nearness to the gimballock singularity as cos(pitch_angle) > 0.