pinocchio::rpy Namespace Reference

Roll-pitch-yaw operations. More...

Functions
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 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...
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...

Detailed Description

Roll-pitch-yaw operations.

Function Documentation

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.

Definition at line 67 of file rpy.hpp.

rpyToMatrix() [1/2]

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 \(\alpha\).

Definition at line 25 of file rpy.hpp.

rpyToMatrix() [2/2]

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 \(\alpha\).

Definition at line 46 of file rpy.hpp.