valor::geometry::Rotation3d Class Reference

Represents a 3D rotation matrix (3x3). More...

#include <valkyrie/util/geometry/Pose.h>

Inheritance diagram for valor::geometry::Rotation3d:

Public Member Functions
	Rotation3d (const BaseMatrix &b)
	Rotation3d (units::radian_t pitch, units::radian_t roll, units::radian_t yaw)
	Rotation3d (const Rotation2d &rot)
	Construct a Rotation3d from a Rotation2d (rotation about Z).
	Rotation3d (frc::Rotation3d frcRot)
	Construct a Rotation3d from an frc::Rotation3d.
	Rotation3d (frc::Rotation2d frcRot)
	Construct a Rotation3d from an frc::Rotation2d as a pure yaw rotation. Pitch and roll are set to zero.
Rotation3d	operator* (double scalar) const
	Scalar multiplication of the rotation axis-angle.
EigenUnit::VectorN< units::radian, 3 >	Log () const
	Logarithm map: SO(3) -> so(3).
Rotation3d	Interpolate (const Rotation3d &other, double t) const
	Spherical Linear Interpolation (SLERP).
units::radian_t	Pitch () const
units::radian_t	Roll () const
units::radian_t	Yaw () const
Public Member Functions inherited from valor::EigenUnit::NamedPhysicalMatrix< Rotation3d, EigenUnit::PhysicalMatrix< EigenUnit::VectorN< units::dimensionless::scalar, 3 >, EigenUnit::VectorN< units::dimensionless::scalar, 3 > > >
	NamedPhysicalMatrix (const EigenUnit::PhysicalMatrix< EigenUnit::VectorN< units::dimensionless::scalar, 3 >, EigenUnit::VectorN< units::dimensionless::scalar, 3 > > &base)
Rotation3d	Inverse () const
auto	Block () const

Static Public Member Functions
static Rotation3d	Exp (EigenUnit::VectorN< units::radian, 3 > w)
	Exponential map: so(3) -> SO(3) using Rodrigues' formula.

Detailed Description

Represents a 3D rotation matrix (3x3).

Constructor & Destructor Documentation

Rotation3d() [1/3]

valor::geometry::Rotation3d::Rotation3d ( const Rotation2d & rot )

inlineexplicit

Construct a Rotation3d from a Rotation2d (rotation about Z).

Parameters

rot	The 2D rotation.

Rotation3d() [2/3]

valor::geometry::Rotation3d::Rotation3d ( frc::Rotation3d frcRot )

inlineexplicit

Construct a Rotation3d from an frc::Rotation3d.

frc::Rotation3d exposes angles as X=roll, Y=pitch, Z=yaw, whereas the valor constructor takes (pitch, roll, yaw), so the arguments are reordered accordingly: Rotation3d(frcRot.Y(), frcRot.X(), frcRot.Z()).

Parameters

frcRot

The frc 3D rotation to convert.

Rotation3d() [3/3]

valor::geometry::Rotation3d::Rotation3d ( frc::Rotation2d frcRot )

inlineexplicit

Construct a Rotation3d from an frc::Rotation2d as a pure yaw rotation. Pitch and roll are set to zero.

Parameters

frcRot

The frc 2D rotation to lift into 3D.

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

• src/main/include/valkyrie/util/geometry/Pose.h