RPY< T > Class Template Reference

A class for representing Roll-Pitch-Yaw Euler angle rotations. More...

#include <RPY.hpp>

Inherits Rotation3DVector< double >.

Public Member Functions
	RPY ()
	Constructs rotation in which all elements are initialized to 0.
	RPY (T roll, T pitch, T yaw)
	Constructs an initialized roll-pitch-yaw euler angle vector. More...
	RPY (const Rotation3D< T > &R, T epsilon=1e-5)
	Constructs an RPY object initialized according to the specified Rotation3D. More...
const Rotation3D< T >	toRotation3D () const
	Returns the corresponding \( 3\times 3 \) Rotation matrix. More...
T &	operator() (size_t index)
	Returns reference to the element. More...
const T &	operator() (size_t index) const
	Returns a const reference the an element. More...
const T &	operator[] (size_t i) const
	Returns a const reference the an element. More...
T &	operator[] (size_t i)
	Returns reference to the element. More...
bool	operator== (const RPY< T > &rhs) const
	Comparison operator. More...
bool	operator!= (const RPY< T > &rhs) const
	Comparison operator. More...
size_t	size () const
	size of this RPY. More...
Public Member Functions inherited from Rotation3DVector< double >
virtual	~Rotation3DVector ()
	Virtual destructor.

Friends
std::ostream &	operator<< (std::ostream &os, const RPY< T > &rpy)
	Ouputs RPY to stream. More...

Related Functions
(Note that these are not member functions.)
template<>
void	write (const rw::math::RPY< double > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
template<>
void	write (const rw::math::RPY< float > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
template<>
void	read (rw::math::RPY< double > &sobject, rw::common::InputArchive &iarchive, const std::string &id)
template<>
void	read (rw::math::RPY< float > &sobject, rw::common::InputArchive &iarchive, const std::string &id)

Additional Inherited Members
Protected Member Functions inherited from Rotation3DVector< double >
	Rotation3DVector (const Rotation3DVector &)
	Copy Constructor. More...
	Rotation3DVector ()
	Default Constructor.
Rotation3DVector &	operator= (const Rotation3DVector &)
	Assignment operator is protected to force subclasses to implement it by themself.

Detailed Description

template<class T = double>
class rw::math::RPY< T >

A class for representing Roll-Pitch-Yaw Euler angle rotations.

Constructor & Destructor Documentation

RPY() [1/2]

RPY ( T  roll, T  pitch, T  yaw  )

inline

Constructs an initialized roll-pitch-yaw euler angle vector.

Parameters

roll	Rotation around z
pitch	Rotation around y
yaw	Rotation around x

RPY() [2/2]

RPY ( const Rotation3D< T > &  R, T  epsilon = 1e-5  )

explicit

Constructs an RPY object initialized according to the specified Rotation3D.

\( \beta = arctan2(-r_{31},\sqrt{r_{11}^2+r_{21}^2}) \) \( \alpha = arctan2(r_{21}/cos(\beta), r_{11}/cos(\beta)) \) \( \beta = arctan2(r_{32}/cos(\beta), r_{33}/cos(\beta))) \)

Parameters

R	[in] A 3x3 rotation matrix \( \mathbf{R} \)
epsilon	[in] Value specifying the value for which \( cos(\beta)\) is assumed 0 and the special case solution assuming \(\alpha=0, \beta=\pi/2 and \gamma = arctan2(r_{21}, r_{22})\) is to be used.

Member Function Documentation

operator!=()

bool operator!= ( const RPY< T > &  rhs ) const

inline

Comparison operator.

The comparison operator makes a element wise comparison. Returns true if any of the elements are different.

Parameters

rhs	[in] RPY to compare with

Returns

True if not equal.

operator()() [1/2]

T& operator() ( size_t  index )

inline

Returns reference to the element.

Parameters

index

[in] index of element

Returns

reference to the element

operator()() [2/2]

const T& operator() ( size_t  index ) const

inline

Returns a const reference the an element.

Parameters

index

[in] index of element

Returns

const reference to the element

operator==()

bool operator== ( const RPY< T > &  rhs ) const

inline

Comparison operator.

The comparison operator makes a element wise comparison. Returns true only if all elements are equal.

Parameters

rhs	[in] RPY to compare with

Returns

True if equal.

operator[]() [1/2]

T& operator[] ( size_t  i )

inline

Returns reference to the element.

Parameters

i	[in] index of element

Returns

reference to the element

operator[]() [2/2]

const T& operator[] ( size_t  i ) const

inline

Returns a const reference the an element.

Parameters

i	[in] index of element

Returns

const reference to the element

size()

size_t size ( ) const

inline

size of this RPY.

Returns

the value 3

toRotation3D()

const Rotation3D<T> toRotation3D ( ) const

virtual

Returns the corresponding \( 3\times 3 \) Rotation matrix.

Returns

The rotation matrix

Implements Rotation3DVector< double >.

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  os, const RPY< T > &  rpy  )

friend

Ouputs RPY to stream.

Parameters

os	[in/out] stream to use
rpy	[in] rpy rotation

Returns

the resulting stream

read() [1/2]

void read ( rw::math::RPY< double > &  sobject, rw::common::InputArchive &  iarchive, const std::string &  id  )

related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters

sobject	[out] the object in which the data should be streamed into
iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

read() [2/2]

void read ( rw::math::RPY< float > &  sobject, rw::common::InputArchive &  iarchive, const std::string &  id  )

related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters

sobject	[out] the object in which the data should be streamed into
iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

write() [1/2]

void write ( const rw::math::RPY< double > &  sobject, rw::common::OutputArchive &  oarchive, const std::string &  id  )

related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters

sobject	[in] the object from which the data should be streamed.
oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

write() [2/2]

void write ( const rw::math::RPY< float > &  sobject, rw::common::OutputArchive &  oarchive, const std::string &  id  )

related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters

sobject	[in] the object from which the data should be streamed.
oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

---

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

• core/math_fwd.hpp
• RPY.hpp