isce3::core::EulerAngles Class Reference

Representation of 3-2-1 Euler angle sequence of rotations. More...

#include <EulerAngles.h>

Public Member Functions
	EulerAngles (double y, double p, double r)
	Construct from yaw, pitch, and roll angles.
	EulerAngles (const Mat3 &rotmat)
	Construct from rotation matrix.
	EulerAngles (const Quaternion &quat)
	Construct from isce3 quaternion object.
Mat3	toRotationMatrix () const
	Convert to rotation matrix.
double	yaw () const
	Get yaw in radians.
double	pitch () const
	Get pitch in radians.
double	roll () const
	Get roll in radians.
Quaternion	toQuaternion () const
	Convert to isce3 Quaternion object.
bool	isApprox (const EulerAngles &other, double prec=1e-7) const
	Check if *this is approximately equals to other within a desired precision.
Vec3	rotate (const Eigen::Vector3d &vec) const
	Rotate a 3-D vector by Euler object in YPR order.
EulerAngles &	operator+= (const EulerAngles &rhs)
	Overloaded in-place operator += on this.
EulerAngles &	operator-= (const EulerAngles &rhs)
	Overloaded in-place operator -= on this.
EulerAngles &	operator*= (const EulerAngles &rhs)
	Overloaded in-place operator *= on this.

Detailed Description

Representation of 3-2-1 Euler angle sequence of rotations.

Constructor & Destructor Documentation

EulerAngles() [1/3]

isce3::core::EulerAngles::EulerAngles ( double y, double p, double r )

inline

Construct from yaw, pitch, and roll angles.

Parameters

[in]	y	Yaw angle (axis 3) in radians.
[in]	p	Pitch angle (axis 2) in radians.
[in]	r	Roll angle (axis 1) in radians.

EulerAngles() [2/3]

isce3::core::EulerAngles::EulerAngles ( const Mat3 & rotmat )

explicit

Construct from rotation matrix.

Parameters

[in]

rotmat

: Eigen or Mat3 3-D rotation matrix. Must be a unitary within at least 1e-6 precision.

Exceptions

InvalidArgument

for bad rotmat.

EulerAngles() [3/3]

isce3::core::EulerAngles::EulerAngles ( const Quaternion & quat )

explicit

Construct from isce3 quaternion object.

Parameters

[in]

quat

: isce3 Quaternion object

Member Function Documentation

isApprox()

bool isce3::core::EulerAngles::isApprox	(	const EulerAngles &	other,
		double	prec = 1e-7 ) const

Check if *this is approximately equals to other within a desired precision.

Parameters

[in]	other	: another EulerAngles object
[in]	prec	(optional) : double scalar precision , must be a positive value.

Returns

bool

Exceptions

InvalidArgument

for bad prec.

operator*=()

EulerAngles & isce3::core::EulerAngles::operator*= ( const EulerAngles & rhs )

inline

Overloaded in-place operator *= on this.

Parameters

[in]

rhs

: EulerAngles object whose rotation matrix is multiplied to the rotation matrix of this.

Returns

*this which is concatenation of two rotations.

operator+=()

EulerAngles & isce3::core::EulerAngles::operator+= ( const EulerAngles & rhs )

inline

Overloaded in-place operator += on this.

Parameters

[in]

rhs

: EulerAngles object added to this

Returns

*this

operator-=()

EulerAngles & isce3::core::EulerAngles::operator-= ( const EulerAngles & rhs )

inline

Overloaded in-place operator -= on this.

Parameters

[in]

rhs

: EulerAngles object subtratced from this

Returns

*this

rotate()

Vec3 isce3::core::EulerAngles::rotate

(

const Eigen::Vector3d &

vec

)

const

Rotate a 3-D vector by Euler object in YPR order.

Parameters

[in]

vec

: Eigen Vector3d or isce3 Vec3

Returns

rotated 3-D vector

toQuaternion()

Quaternion isce3::core::EulerAngles::toQuaternion

(

)

const

Convert to isce3 Quaternion object.

Returns

isce3 Quaternion object

toRotationMatrix()

Mat3 isce3::core::EulerAngles::toRotationMatrix ( ) const

inline

Convert to rotation matrix.

Returns

Eigen Matrix3d or isce3 Mat3

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

• /home/runner/work/isce3/isce3/cxx/isce3/core/EulerAngles.h
• /home/runner/work/isce3/isce3/cxx/isce3/core/EulerAngles.cpp