robotoc::rotation Namespace Reference

Enumerations
enum class	ProjectionAxis { X , Y , Z }
	Projection axis of the rotation. More...

Functions
template<typename VectorType >
Eigen::Matrix3d	RotationMatrixFromQuaternion (const Eigen::MatrixBase< VectorType > &quat_xyzw)
	Convert quaternion vector (x, y, z, w) to a Rotation matrix. More...
template<typename VectorType >
Eigen::Matrix3d	RotationMatrixFromNormalVector (const Eigen::MatrixBase< VectorType > &normal_vector)
	Convert a normal vector to its surface Rotation matrix. More...
template<typename MatrixType >
Eigen::Vector4d	QuaternionFromRotationMatrix (const Eigen::MatrixBase< MatrixType > &R)
	Convert a rotation matrix to a quaternion vector (x, y, z, w). More...
template<typename VectorType >
Eigen::Vector4d	QuaternionFromNormalVector (const Eigen::MatrixBase< VectorType > &normal_vector)
	Convert a normal vector to its surface quaternion (x, y, z, w). More...
void	ProjectRotationMatrix (Eigen::Matrix3d &R, const ProjectionAxis axis)
	Projects a rotation matrix onto a specified axis. More...

Enumeration Type Documentation

ProjectionAxis

enum class robotoc::rotation::ProjectionAxis

strong

Projection axis of the rotation.

Enumerator
X
Y
Z

Function Documentation

ProjectRotationMatrix()

void robotoc::rotation::ProjectRotationMatrix ( Eigen::Matrix3d &  R, const ProjectionAxis  axis  )

inline

Projects a rotation matrix onto a specified axis.

Parameters

[in,out]	R	Rotation matrix.
[in]	axis	Axis of the projection.

QuaternionFromNormalVector()

template<typename VectorType >

Eigen::Vector4d robotoc::rotation::QuaternionFromNormalVector ( const Eigen::MatrixBase< VectorType > &  normal_vector )

inline

Convert a normal vector to its surface quaternion (x, y, z, w).

Parameters

[in]

normal_vector

Normal vector.

Returns

Quaternion vector (x, y, z, w).

QuaternionFromRotationMatrix()

template<typename MatrixType >

Eigen::Vector4d robotoc::rotation::QuaternionFromRotationMatrix ( const Eigen::MatrixBase< MatrixType > &  R )

inline

Convert a rotation matrix to a quaternion vector (x, y, z, w).

Parameters

[in]

R

rotation matrix.

Returns

Quaternion vector (x, y, z, w).

RotationMatrixFromNormalVector()

template<typename VectorType >

Eigen::Matrix3d robotoc::rotation::RotationMatrixFromNormalVector ( const Eigen::MatrixBase< VectorType > &  normal_vector )

inline

Convert a normal vector to its surface Rotation matrix.

Parameters

[in]

normal_vector

Normal vector.

Returns

Rotation matrixo of the surface.

RotationMatrixFromQuaternion()

template<typename VectorType >

Eigen::Matrix3d robotoc::rotation::RotationMatrixFromQuaternion ( const Eigen::MatrixBase< VectorType > &  quat_xyzw )

inline

Convert quaternion vector (x, y, z, w) to a Rotation matrix.

Parameters

[in]

quat_xyzw

Quaternion vector (x, y, z, w).

Returns

Rotation matrix.