#include <Rot3d.h>

Public Member Functions
	Rot3d (const Eigen::Quaterniond &quat)
	Rot3d (double yaw, double pitch, double roll)
	Rot3d (const Eigen::Matrix3d &wRo)
void	write (std::ostream &out) const
double	x () const
double	y () const
double	z () const
double	w () const
double	yaw () const
double	pitch () const
double	roll () const
void	ypr (double &yaw, double &pitch, double &roll) const
void	set_yaw (double yaw)
void	set_pitch (double pitch)
void	set_roll (double roll)
void	set (double yaw, double pitch, double roll)
Rot3d	exmap (const Eigen::VectorXd &delta) const
Eigen::Quaterniond	quaternion () const
const Eigen::Matrix3d &	wRo () const
Eigen::Matrix3d	oRw () const
Static Public Member Functions
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix3d	euler_to_wRo (double yaw, double pitch, double roll)
static void	wRo_to_euler (const Eigen::Matrix3d &wRo, double &yaw, double &pitch, double &roll)
static Eigen::Quaterniond	wRo_to_quat (const Eigen::Matrix3d &wRo)
static Eigen::Matrix3d	quat_to_wRo (const Eigen::Quaterniond &quat)
static Eigen::Quaterniond	euler_to_quat (double yaw, double pitch, double roll)
static void	quat_to_euler (Eigen::Quaterniond q, double &yaw, double &pitch, double &roll)
static Eigen::Quaterniond	delta3_to_quat (const Eigen::Vector3d &delta)
static const char *	name ()
Static Public Attributes
static const int	dim = 3
static const int	size = 4
Friends
std::ostream &	operator<< (std::ostream &out, const Rot3d &p)

Detailed Description

For conventions, see isam::Pose3d.h

Definition at line 46 of file Rot3d.h.

Member Function Documentation

Eigen::Matrix3d isam::Rot3d::oRw ( ) const [inline]

Return inverse rotation by transeposing.

Definition at line 276 of file Rot3d.h.

const Eigen::Matrix3d& isam::Rot3d::wRo ( ) const [inline]

Generate 3x3 rotation matrix from Rot3d.

Definition at line 264 of file Rot3d.h.

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