Data structure for Euler Angle representation of attitude information. More...

#include <EulerAngles.h>

Inheritance diagram for isce3::core::EulerAngles:

Public Member Functions
	EulerAngles (const std::string yaw_orientation="normal")
	Default constructor. More...

	EulerAngles (const std::vector< double > &time, const std::vector< double > &yaw, const std::vector< double > &pitch, const std::vector< double > &roll, const std::string yaw_orientation="normal")
	Constructor with vectors of time and attitude angles. More...

	EulerAngles (const EulerAngles &)
	Copy constructor. More...

bool	operator== (const EulerAngles &) const
	Comparison operator.

EulerAngles &	operator= (const EulerAngles &)
	Assignment operator. More...

void	data (const std::vector< double > &time, const std::vector< double > &yaw, const std::vector< double > &pitch, const std::vector< double > &roll)
	Set data after construction. More...

const std::vector< double > &	time () const
	Return data vector of time.

const std::vector< double > &	yaw () const
	Return data vector of yaw.

const std::vector< double > &	pitch () const
	Return data vector of pitch.

const std::vector< double > &	roll () const
	Return data vector of roll.

void	ypr (double tintp, double &yaw, double &pitch, double &roll)
	Interpolate yaw, pitch and roll at a given time. More...

cartmat_t	rotmat (double tintp, const std::string, double dyaw=0.0, double dpitch=0.0, double d2=0.0, double d3=0.0)
	Return rotation matrix at a given time with optional angle perturbations. More...

std::vector< double >	toQuaternionElements (double tintp)
	Return equivalent quaternion elements at a given time. More...

Quaternion	toQuaternion ()
	Return equivalent quaternion data structure. More...

cartmat_t	T3 (double)
	Return T3 rotation matrix around Z-axis.

cartmat_t	T2 (double)
	Return T2 rotation matrix around Y-axis.

cartmat_t	T1 (double)
	Return T1 rotation matrix around X-axis.

const isce3::core::DateTime &	refEpoch () const
	Get reference epoch.

void	refEpoch (const isce3::core::DateTime &epoch)
	Set reference epoch.

size_t	nVectors () const
	Return number of epochs.

Public Member Functions inherited from isce3::core::Attitude
	Attitude (Attitude::Type atype)
	Constructor using time attitude representation type.

virtual	~Attitude ()
	Virtual destructor.

Attitude::Type	attitudeType () const
	Return type of attitude representation - quaternion or euler angle.

std::string	yawOrientation () const
	Return yaw orientation - central or normal.

void	yawOrientation (const std::string)
	Set yaw orientation - central or normal.

Static Public Member Functions
static cartesian_t	rotmat2ypr (const cartmat_t &)
	Utility method to convert rotation matrix to Euler angles.

Additional Inherited Members
Public Types inherited from isce3::core::Attitude
enum	Type { EulerAngles_t, Quaternion_t }

Detailed Description

Data structure for Euler Angle representation of attitude information.

All angles are stored and returned in radians

Constructor & Destructor Documentation

isce3::core::EulerAngles::EulerAngles ( const std::string yaw_orientation = "normal" )

Default constructor.

Parameters

[in] yaw_orientation Can be "normal" or "center"

isce3::core::EulerAngles::EulerAngles	(	const std::vector< double > &	time,
		const std::vector< double > &	yaw,
		const std::vector< double > &	pitch,
		const std::vector< double > &	roll,
		const std::string	yaw_orientation = `"normal"`
	)

Constructor with vectors of time and attitude angles.

Parameters

[in]	time	Vector of observation times in seconds since reference epoch
[in]	yaw	Vector of yaw angles
[in]	pitch	Vector of pitch angles
[in]	roll	Vector of roll angles

isce3::core::EulerAngles::EulerAngles ( const EulerAngles & euler )

Copy constructor.

Parameters

[in] euler EulerAngles object

Member Function Documentation

void isce3::core::EulerAngles::data	(	const std::vector< double > &	time,
		const std::vector< double > &	yaw,
		const std::vector< double > &	pitch,
		const std::vector< double > &	roll
	)

Set data after construction.

Parameters

[in]	time	Vector of observation times in seconds since reference epoch
[in]	yaw	Vector of yaw angles
[in]	pitch	Vector of pitch angles
[in]	roll	Vector of roll angles

isce3::core::EulerAngles & isce3::core::EulerAngles::operator= ( const EulerAngles & euler )

Assignment operator.

Parameters

[in] euler EulerAngles object

isce3::core::cartmat_t isce3::core::EulerAngles::rotmat	(	double	tintp,
		const std::string	sequence,
		double	dyaw = `0.0`,
		double	dpitch = `0.0`,
		double	d2 = `0.0`,
		double	d3 = `0.0`
	)

virtual

Return rotation matrix at a given time with optional angle perturbations.

Parameters

[in]	tintp	Seconds since reference epoch
[in]	sequence	String of rotation sequence
[in]	dyaw	Yaw perturbation
[in]	dpitch	Pitch perturbation
[in]	d2	(Not used)
[in]	d3	(Not used)
[out]	R	Rotation matrix for given sequence

Implements isce3::core::Attitude.

isce3::core::Quaternion isce3::core::EulerAngles::toQuaternion ( )

Return equivalent quaternion data structure.

Parameters

[out] quat Quaternion instance

std::vector< double > isce3::core::EulerAngles::toQuaternionElements ( double tintp )

Return equivalent quaternion elements at a given time.

Parameters

[in]	tintp	Seconds since reference epoch
[out]	q	Vector of quaternion elements

void isce3::core::EulerAngles::ypr	(	double	tintp,
		double &	oyaw,
		double &	opitch,
		double &	oroll
	)

virtual

Interpolate yaw, pitch and roll at a given time.

Parameters

[in]	tintp	Seconds since reference epoch
[out]	oyaw	Interpolated yaw angle
[out]	opitch	Interpolated pitch angle
[out]	oroll	Interpolated roll angle

Implements isce3::core::Attitude.

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

isce/cxx/isce3/core/EulerAngles.h
isce/cxx/isce3/core/EulerAngles.cpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation