gcop::SO3 Class Reference

#include <so3.h>

Inheritance diagram for gcop::SO3:

Collaboration diagram for gcop::SO3:

List of all members.

Public Member Functions
	SO3 ()
void	inv (Matrix3d &mi, const Matrix3d &m) const
void	hat (Matrix3d &vh, const Vector3d &v) const
void	hatinv (Vector3d &v, const Matrix3d &vh) const
void	Tg (Matrix3d &m, const Matrix3d &g) const
void	Ad (Matrix3d &m, const Matrix3d &g) const
void	ad (Matrix3d &m, const Vector3d &v) const
void	adinv (Vector3d &v, const Matrix3d &m) const
void	exp (Matrix3d &m, const Vector3d &v) const
void	log (Vector3d &v, const Matrix3d &m) const
void	cay (Matrix3d &g, const Vector3d &v) const
void	cayinv (Vector3d &v, const Matrix3d &m) const
void	dcay (Matrix3d &m, const Vector3d &v) const
void	dcayinv (Matrix3d &m, const Vector3d &v) const
void	dexp (Matrix3d &m, const Vector3d &v) const
void	dexpinv (Matrix3d &m, const Vector3d &v) const
void	skew (Vector3d &v, const Matrix3d &m) const
double	roll (const Matrix3d &m) const
double	pitch (const Matrix3d &m) const
double	yaw (const Matrix3d &m) const
void	q2g (Matrix3d &m, const Vector3d &rpy)
void	quat2g (Matrix3d &m, const Vector4d &wxyz)
void	g2quat (Vector4d &wxyz, const Matrix3d &m)
void	g2q (Vector3d &rpy, const Matrix3d &m)
Static Public Member Functions
static SO3 &	Instance ()
Public Attributes
double	tol
	numerical tolerance

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Constructor & Destructor Documentation

SO3::SO3

(

)

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Member Function Documentation

void SO3::Ad	(	Matrix3d &	m,
		const Matrix3d &	g
	)		const

Referenced by gcop::Body3d< c >::EulerStep(), and gcop::Body3d< c >::SympStep().

void SO3::ad	(	Matrix3d &	m,
		const Vector3d &	v
	)		const

References hat().

Referenced by gcop::SE3::Ad(), gcop::SE3::ad(), gcop::SE3::adt(), gcop::SE3::dcayinv(), and gcop::SE3::hat().

void SO3::adinv	(	Vector3d &	v,
		const Matrix3d &	m
	)		const

References hatinv().

void SO3::cay	(	Matrix3d &	g,
		const Vector3d &	v
	)		const

References hat(), and gcop::Group< 3, 3 >::Id.

Referenced by gcop::Body3d< c >::EulerStep(), gcop::AirmManifold::Retract(), and gcop::Body3d< c >::SympStep().

void SO3::cayinv	(	Vector3d &	v,
		const Matrix3d &	m
	)		const

References hatinv(), and gcop::Group< 3, 3 >::Id.

Referenced by gcop::AirmManifold::Lift().

void SO3::dcay	(	Matrix3d &	m,
		const Vector3d &	v
	)		const

Referenced by gcop::Body3d< c >::EulerStep(), and gcop::Body3d< c >::SympStep().

void SO3::dcayinv	(	Matrix3d &	m,
		const Vector3d &	v
	)		const

Referenced by gcop::SE3::dcayinv(), and gcop::Body3d< c >::SympStep().

void SO3::dexp	(	Matrix3d &	m,
		const Vector3d &	v
	)		const

References hat(), gcop::Group< 3, 3 >::Id, and tol.

Referenced by gcop::SE3::exp(), gcop::Ins::Step(), and gcop::Imu::Step().

void SO3::dexpinv	(	Matrix3d &	m,
		const Vector3d &	v
	)		const

References hat(), gcop::Group< 3, 3 >::Id, and tol.

Referenced by gcop::SE3::log().

void SO3::exp	(	Matrix3d &	m,
		const Vector3d &	v
	)		const

References hat(), gcop::Group< 3, 3 >::Id, and tol.

Referenced by gcop::SE3::exp(), gcop::Ins::Step(), and gcop::Imu::Step().

void SO3::g2q	(	Vector3d &	rpy,
		const Matrix3d &	m
	)

References pitch(), roll(), and yaw().

Referenced by gcop::SE3::g2q(), and gcop::SE3::g2rpyxyz().

void SO3::g2quat	(	Vector4d &	wxyz,
		const Matrix3d &	m
	)

Referenced by gcop::SE3::g2quatxyz().

void SO3::hat	(	Matrix3d &	vh,
		const Vector3d &	v
	)		const

Referenced by ad(), cay(), dexp(), dexpinv(), gcop::Body3d< c >::EulerStep(), exp(), gcop::Gcay(), gcop::ImuSensor< _nz, _nu, _np >::operator()(), gcop::InsImu< _nz, _nu, _np >::operator()(), r3hat(), gcop::r3hat(), and gcop::Body3d< c >::SympStep().

void SO3::hatinv	(	Vector3d &	v,
		const Matrix3d &	vh
	)		const

Referenced by adinv(), gcop::SE3::adinv(), cayinv(), gcop::SE3::hatinv(), log(), and skew().

SO3 & SO3::Instance

(

)

[static]

Referenced by gcop::Body3d< c >::EulerStep(), gcop::Body3d< c >::FlatToStateAndControls(), gcop::Gcay(), gcop::AirmManifold::Lift(), gcop::ImuSensor< _nz, _nu, _np >::operator()(), gcop::InsImu< _nz, _nu, _np >::operator()(), r3hat(), gcop::r3hat(), gcop::AirmManifold::Retract(), gcop::Hrotor::StateAndControlsToFlat(), gcop::Body3d< c >::StateAndControlsToFlat(), gcop::Ins::Step(), gcop::Imu::Step(), gcop::Body3d< c >::SympStep(), gcop::Geom3dView::Transform(), gcop::UuvView< c >::Transform(), gcop::Body3dView< c >::Transform(), and gcop::Kinbody3dView< _nu >::Transform().

void SO3::inv	(	Matrix3d &	mi,
		const Matrix3d &	m
	)		const

void SO3::log	(	Vector3d &	v,
		const Matrix3d &	m
	)		const

References hatinv(), and tol.

Referenced by gcop::SE3::log(), gcop::Geom3dView::Transform(), gcop::UuvView< c >::Transform(), gcop::Body3dView< c >::Transform(), and gcop::Kinbody3dView< _nu >::Transform().

double SO3::pitch

(

const Matrix3d &

m

)

const

Referenced by g2q(), and gcop::Body3d< c >::StateAndControlsToFlat().

void SO3::q2g	(	Matrix3d &	m,
		const Vector3d &	rpy
	)

Referenced by gcop::SE3::q2g(), and gcop::SE3::rpyxyz2g().

void SO3::quat2g	(	Matrix3d &	m,
		const Vector4d &	wxyz
	)

References gcop::Group< 3, 3 >::e.

Referenced by gcop::SE3::quatxyz2g().

double SO3::roll

(

const Matrix3d &

m

)

const

Referenced by g2q(), and gcop::Body3d< c >::StateAndControlsToFlat().

void SO3::skew	(	Vector3d &	v,
		const Matrix3d &	m
	)		const

References hatinv().

void SO3::Tg	(	Matrix3d &	m,
		const Matrix3d &	g
	)		const

double SO3::yaw

(

const Matrix3d &

m

)

const

Referenced by g2q(), gcop::Hrotor::StateAndControlsToFlat(), and gcop::Body3d< c >::StateAndControlsToFlat().

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Member Data Documentation

double gcop::SO3::tol

numerical tolerance

Referenced by dexp(), dexpinv(), exp(), log(), gcop::UuvView< c >::Transform(), gcop::Body3dView< c >::Transform(), and gcop::Kinbody3dView< _nu >::Transform().

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

• lib/utils/so3.h
• lib/utils/so3.cc