Namespace inertialsim::geometry::euler_angles¶

Namespace List > inertialsim > geometry > euler_angles

Euler angle rotation representation conversions (internal API). More...

Public Functions¶

Type	Name
EulerAngles	FromEuler (const EulerAngles & angles, const std::string & sequence) Euler angle representation from Euler angles.
std::pair< EulerAngles, BooleanArray >	FromMatrix (const RotationMatrixArray & matrix, const std::string & sequence, bool passive=false) Euler angle representation from rotation matrix.
EulerAngles	FromQuaternion (const Quaternion & quaternion, const std::string & sequence) Euler angle representation from quaternion.
EulerAngles	Validate (const EulerAngles & angles, const std::string & sequence) Validates inputs meet Euler angle conventions.
void	ValidateSequence (const std::string & sequence) Validates a string representing the sequence of Euler angles.

Detailed Description¶

Internal API

This namespace is part of InertialSim's internal API. Most users should use the Rotation class and its factory methods rather than calling these functions directly.

See also: Rotation

Public Functions Documentation¶

function FromEuler¶

Euler angle representation from Euler angles.

EulerAngles inertialsim::geometry::euler_angles::FromEuler (
    const  EulerAngles & angles,
    const std::string & sequence
)

Parameters:

angles Euler angles in radians.
sequence Three-character string defining the axis sequence.

Returns:

Validated Euler angles in radians.

function FromMatrix¶

Euler angle representation from rotation matrix.

std::pair< EulerAngles , BooleanArray > inertialsim::geometry::euler_angles::FromMatrix (
    const  RotationMatrixArray & matrix,
    const std::string & sequence,
    bool passive=false
)

Parameters:

matrix Vector of rotation matrices.
sequence Three-character string defining the axis sequence.
passive Interpret the rotation as passive.

Returns:

Pair containing:

Euler angles in radians.
Array of booleans indicating gimbal lock condition for each rotation.

function FromQuaternion¶

Euler angle representation from quaternion.

EulerAngles inertialsim::geometry::euler_angles::FromQuaternion (
    const  Quaternion & quaternion,
    const std::string & sequence
)

Parameters:

quaternion Quaternion(s), with scalar part first.
sequence Three-character string defining the axis sequence.

Returns:

Euler angles in radians.

function Validate¶

Validates inputs meet Euler angle conventions.

EulerAngles inertialsim::geometry::euler_angles::Validate (
    const  EulerAngles & angles,
    const std::string & sequence
)

Parameters:

angles Euler angles in radians.
sequence Three-character string defining the axis sequence.

Returns:

The input angles modified to conform to InertialSim conventions.

function ValidateSequence¶

Validates a string representing the sequence of Euler angles.

void inertialsim::geometry::euler_angles::ValidateSequence (
    const std::string & sequence
)

Parameters:

sequence Sequence string containing X, Y, or Z.

The documentation for this class was generated from the following file cpp/include/inertialsim/geometry/rotation_conversions/euler_angles.h