gcop_urdf::Rotation Class Reference

#include <pose.h>

List of all members.

Public Member Functions
	Rotation (double _x, double _y, double _z, double _w)
	Rotation ()
void	getQuaternion (double &quat_x, double &quat_y, double &quat_z, double &quat_w) const
void	getRPY (double &roll, double &pitch, double &yaw) const
void	setFromQuaternion (double quat_x, double quat_y, double quat_z, double quat_w)
void	setFromRPY (double roll, double pitch, double yaw)
bool	init (const std::string &rotation_str)
void	clear ()
void	normalize ()
Rotation	operator* (const Rotation &qt) const
Vector3	operator* (Vector3 vec) const
	Rotate a vector using the quaternion.
Rotation	GetInverse () const
Public Attributes
double	x
double	y
double	z
double	w

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Constructor & Destructor Documentation

gcop_urdf::Rotation::Rotation	(	double	_x,
		double	_y,
		double	_z,
		double	_w
	)		[inline]

References w, x, y, and z.

gcop_urdf::Rotation::Rotation

(

)

[inline]

References clear().

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Member Function Documentation

void gcop_urdf::Rotation::clear

(

)

[inline]

References w, x, y, and z.

Referenced by gcop_urdf::Pose::clear(), init(), gcop_urdf::Pose::initXml(), and Rotation().

Rotation gcop_urdf::Rotation::GetInverse

(

)

const [inline]

References w, x, y, and z.

Referenced by gcop_urdf::Pose::GetInverse(), and operator*().

void gcop_urdf::Rotation::getQuaternion	(	double &	quat_x,
		double &	quat_y,
		double &	quat_z,
		double &	quat_w
	)		const [inline]

References w, x, y, and z.

void gcop_urdf::Rotation::getRPY	(	double &	roll,
		double &	pitch,
		double &	yaw
	)		const [inline]

References w, x, y, and z.

bool gcop_urdf::Rotation::init

(

const std::string &

rotation_str

)

[inline]

References clear(), gcop_urdf::Vector3::init(), setFromRPY(), gcop_urdf::Vector3::x, gcop_urdf::Vector3::y, and gcop_urdf::Vector3::z.

Referenced by gcop_urdf::Pose::initXml().

void gcop_urdf::Rotation::normalize

(

)

[inline]

References w, x, y, and z.

Referenced by setFromQuaternion(), and setFromRPY().

Rotation gcop_urdf::Rotation::operator*

(

const Rotation &

qt

)

const [inline]

References w, x, y, and z.

Vector3 gcop_urdf::Rotation::operator*

(

Vector3

vec

)

const [inline]

Rotate a vector using the quaternion.

References GetInverse(), w, gcop_urdf::Vector3::x, x, gcop_urdf::Vector3::y, y, gcop_urdf::Vector3::z, and z.

void gcop_urdf::Rotation::setFromQuaternion	(	double	quat_x,
		double	quat_y,
		double	quat_z,
		double	quat_w
	)		[inline]

References normalize(), w, x, y, and z.

void gcop_urdf::Rotation::setFromRPY	(	double	roll,
		double	pitch,
		double	yaw
	)		[inline]

References normalize(), w, x, y, and z.

Referenced by init().

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Member Data Documentation

double gcop_urdf::Rotation::w

Referenced by clear(), GetInverse(), getQuaternion(), getRPY(), normalize(), operator*(), Rotation(), setFromQuaternion(), and setFromRPY().

double gcop_urdf::Rotation::x

Referenced by clear(), GetInverse(), getQuaternion(), getRPY(), normalize(), operator*(), Rotation(), setFromQuaternion(), and setFromRPY().

double gcop_urdf::Rotation::y

Referenced by clear(), GetInverse(), getQuaternion(), getRPY(), normalize(), operator*(), Rotation(), setFromQuaternion(), and setFromRPY().

double gcop_urdf::Rotation::z

Referenced by clear(), GetInverse(), getQuaternion(), getRPY(), normalize(), operator*(), Rotation(), setFromQuaternion(), and setFromRPY().

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

• lib/utils/pose.h