pinocchio::rpy Namespace Reference

Roll-pitch-yaw operations. More...

Functions
template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, Vector3Like ::Options >	computeRpyJacobian (const Eigen::MatrixBase< Vector3Like > &rpy, const ReferenceFrame rf=LOCAL)
	Compute the Jacobian of the Roll-Pitch-Yaw conversion. More...
template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, Vector3Like ::Options >	computeRpyJacobianInverse (const Eigen::MatrixBase< Vector3Like > &rpy, const ReferenceFrame rf=LOCAL)
	Compute the inverse Jacobian of the Roll-Pitch-Yaw conversion. More...
template<typename Vector3Like0 , typename Vector3Like1 >
Eigen::Matrix< typename Vector3Like0::Scalar, 3, 3, Vector3Like0 ::Options >	computeRpyJacobianTimeDerivative (const Eigen::MatrixBase< Vector3Like0 > &rpy, const Eigen::MatrixBase< Vector3Like1 > &rpydot, const ReferenceFrame rf=LOCAL)
	Compute the time derivative Jacobian of the Roll-Pitch-Yaw conversion. More...
template<typename Matrix3Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, Matrix3Like ::Options >	matrixToRpy (const Eigen::MatrixBase< Matrix3Like > &R)
	Convert from Transformation Matrix to Roll, Pitch, Yaw. More...
template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, Vector3Like ::Options >	rpyToMatrix (const Eigen::MatrixBase< Vector3Like > &rpy)
	Convert from Roll, Pitch, Yaw to rotation Matrix. More...
template<typename Scalar >
Eigen::Matrix< Scalar, 3, 3 >	rpyToMatrix (const Scalar &r, const Scalar &p, const Scalar &y)
	Convert from Roll, Pitch, Yaw to rotation Matrix. More...

Detailed Description

Roll-pitch-yaw operations.

Function Documentation

computeRpyJacobian()

Eigen::Matrix<typename Vector3Like::Scalar,3,3, Vector3Like ::Options> pinocchio::rpy::computeRpyJacobian	(	const Eigen::MatrixBase< Vector3Like > &	rpy,
		const ReferenceFrame	rf = LOCAL
	)

Compute the Jacobian of the Roll-Pitch-Yaw conversion.

Given \(\phi = (r, p, y)\) and reference frame F (either LOCAL or WORLD), the Jacobian is such that \( {}^F\omega = J_F(\phi)\dot{\phi} \), where \( {}^F\omega \) is the angular velocity expressed in frame F and \( J_F \) is the Jacobian computed with reference frame F

Parameters

[in]	rpy	Roll-Pitch-Yaw vector
[in]	rf	Reference frame in which the angular velocity is expressed

Returns

The Jacobian of the Roll-Pitch-Yaw conversion in the appropriate frame

Note

for the purpose of this function, WORLD and LOCAL_WORLD_ALIGNED are equivalent

computeRpyJacobianInverse()

Eigen::Matrix<typename Vector3Like::Scalar,3,3, Vector3Like ::Options> pinocchio::rpy::computeRpyJacobianInverse	(	const Eigen::MatrixBase< Vector3Like > &	rpy,
		const ReferenceFrame	rf = LOCAL
	)

Compute the inverse Jacobian of the Roll-Pitch-Yaw conversion.

Given \(\phi = (r, p, y)\) and reference frame F (either LOCAL or WORLD), the Jacobian is such that \( {}^F\omega = J_F(\phi)\dot{\phi} \), where \( {}^F\omega \) is the angular velocity expressed in frame F and \( J_F \) is the Jacobian computed with reference frame F

Parameters

[in]	rpy	Roll-Pitch-Yaw vector
[in]	rf	Reference frame in which the angular velocity is expressed

Returns

The inverse of the Jacobian of the Roll-Pitch-Yaw conversion in the appropriate frame

Note

for the purpose of this function, WORLD and LOCAL_WORLD_ALIGNED are equivalent

computeRpyJacobianTimeDerivative()

Eigen::Matrix<typename Vector3Like0::Scalar,3,3, Vector3Like0 ::Options> pinocchio::rpy::computeRpyJacobianTimeDerivative	(	const Eigen::MatrixBase< Vector3Like0 > &	rpy,
		const Eigen::MatrixBase< Vector3Like1 > &	rpydot,
		const ReferenceFrame	rf = LOCAL
	)

Compute the time derivative Jacobian of the Roll-Pitch-Yaw conversion.

Given \(\phi = (r, p, y)\) and reference frame F (either LOCAL or WORLD), the Jacobian is such that \( {}^F\omega = J_F(\phi)\dot{\phi} \), where \( {}^F\omega \) is the angular velocity expressed in frame F and \( J_F \) is the Jacobian computed with reference frame F

Parameters

[in]	rpy	Roll-Pitch-Yaw vector
[in]	rpydot	Time derivative of the Roll-Pitch-Yaw vector
[in]	rf	Reference frame in which the angular velocity is expressed

Returns

The time derivative of the Jacobian of the Roll-Pitch-Yaw conversion in the appropriate frame

Note

for the purpose of this function, WORLD and LOCAL_WORLD_ALIGNED are equivalent

matrixToRpy()

Eigen::Matrix<typename Matrix3Like::Scalar,3,1, Matrix3Like ::Options> pinocchio::rpy::matrixToRpy

(

const Eigen::MatrixBase< Matrix3Like > &

R

)

Convert from Transformation Matrix to Roll, Pitch, Yaw.

Given a rotation matrix \(R\), the angles \(r, p, y\) are given so that \( R = R_z(y)R_y(p)R_x(r) \), where \(R_{\alpha}(\theta)\) denotes the rotation of \(\theta\) degrees around axis \(\alpha\). The angles are guaranteed to be in the ranges \(r\in[-\pi,\pi]\) \(p\in[-\frac{\pi}{2},\frac{\pi}{2}]\) \(y\in[-\pi,\pi]\), unlike Eigen's eulerAngles() function

Warning

the method assumes \(R\) is a rotation matrix. If it is not, the result is undefined.

rpyToMatrix() [1/2]

Eigen::Matrix<typename Vector3Like::Scalar,3,3, Vector3Like ::Options> pinocchio::rpy::rpyToMatrix

(

const Eigen::MatrixBase< Vector3Like > &

rpy

)

Convert from Roll, Pitch, Yaw to rotation Matrix.

Given a vector \((r, p, y)\), the rotation is given as \( R = R_z(y)R_y(p)R_x(r) \), where \(R_{\alpha}(\theta)\) denotes the rotation of \(\theta\) degrees around axis \(\alpha\).

rpyToMatrix() [2/2]

Eigen::Matrix<Scalar,3,3> pinocchio::rpy::rpyToMatrix	(	const Scalar &	r,
		const Scalar &	p,
		const Scalar &	y
	)

Convert from Roll, Pitch, Yaw to rotation Matrix.

Given \(r, p, y\), the rotation is given as \( R = R_z(y)R_y(p)R_x(r) \), where \(R_{\alpha}(\theta)\) denotes the rotation of \(\theta\) degrees around axis \(\alpha\).