表示欧拉角的类，用于描述3D旋转。Class representing Euler angles for 3D rotation. More...

#include <transform.hpp>

Public Member Functions
	EulerAngle ()
	默认构造函数，初始化所有角度为零。Default constructor initializing all angles to zero.

	EulerAngle (Scalar roll, Scalar pitch, Scalar yaw)
	使用指定角度构造欧拉角对象。Constructs an Euler angle object with given angles.

	EulerAngle (const Eigen::Matrix< Scalar, 3, 1 > &p)
	通过 Eigen 3D 向量构造欧拉角对象。Constructs an Euler angle object using an Eigen 3D vector.

	EulerAngle (const EulerAngle &p)
	拷贝构造函数。Copy constructor.

const Scalar &	Roll () const

const Scalar &	Pitch () const

const Scalar &	Yaw () const

template<typename T , std::enable_if_t< std::is_same< T, Scalar >::value\|\|std::is_same< T, float >::value\|\|std::is_same< T, double >::value, int > = 0>
	EulerAngle (const T(&data)[3])
	通过 3 元素数组构造欧拉角对象。Constructs an Euler angle object using a 3-element array.

	operator Eigen::Matrix< Scalar, 3, 1 > () const
	转换为 Eigen 3D 向量。Converts to an Eigen 3D vector.

Scalar	operator() (int i) const
	获取欧拉角的某个分量。Retrieves a specific Euler angle component.

EulerAngle &	operator= (const Eigen::Matrix< Scalar, 3, 1 > &p)
	赋值运算符，从 Eigen 3D 向量赋值。Assignment operator from an Eigen 3D vector.

EulerAngle &	operator= (const EulerAngle &p)
	赋值运算符，从另一个 EulerAngle 赋值。Assignment operator from another EulerAngle.

Eigen::Matrix< Scalar, 3, 3 >	ToRotationMatrix () const
	转换为旋转矩阵，默认使用 ZYX 顺序。Converts to a rotation matrix using the ZYX order by default.

Eigen::Matrix< Scalar, 3, 3 >	ToRotationMatrixZYX () const

Eigen::Matrix< Scalar, 3, 3 >	ToRotationMatrixZXY () const

Eigen::Matrix< Scalar, 3, 3 >	ToRotationMatrixYXZ () const

Eigen::Matrix< Scalar, 3, 3 >	ToRotationMatrixYZX () const

Eigen::Matrix< Scalar, 3, 3 >	ToRotationMatrixXYZ () const

Eigen::Matrix< Scalar, 3, 3 >	ToRotationMatrixXZY () const

Eigen::Quaternion< Scalar >	ToQuaternion () const

Eigen::Quaternion< Scalar >	ToQuaternionXYZ () const
	转换为四元数，默认使用 ZYX 顺序。Converts to a quaternion using the ZYX order by default.

Eigen::Quaternion< Scalar >	ToQuaternionXZY () const

Eigen::Quaternion< Scalar >	ToQuaternionYXZ () const

Eigen::Quaternion< Scalar >	ToQuaternionYZX () const

Eigen::Quaternion< Scalar >	ToQuaternionZXY () const

Eigen::Quaternion< Scalar >	ToQuaternionZYX () const

Data Fields
Scalar	data_ [3]
	存储欧拉角的数组。Array storing Euler angles.

Detailed Description

template<typename Scalar>
class LibXR::EulerAngle< Scalar >

表示欧拉角的类，用于描述3D旋转。Class representing Euler angles for 3D rotation.

Template Parameters

Scalar 数据类型，如 float 或 double。Data type, such as float or double.

Definition at line 339 of file transform.hpp.

Constructor & Destructor Documentation

◆ EulerAngle() [1/5]

template<typename Scalar >

LibXR::EulerAngle< Scalar >::EulerAngle ( )

inline

默认构造函数，初始化所有角度为零。Default constructor initializing all angles to zero.

Definition at line 346 of file transform.hpp.

346: data_{0, 0, 0} {}

LibXR::EulerAngle::data_

Scalar data_[3]

存储欧拉角的数组。Array storing Euler angles.

Definition transform.hpp:342

◆ EulerAngle() [2/5]

template<typename Scalar >

LibXR::EulerAngle< Scalar >::EulerAngle	(	Scalar	roll,
		Scalar	pitch,
		Scalar	yaw
	)

inline

使用指定角度构造欧拉角对象。Constructs an Euler angle object with given angles.

Parameters

roll	绕 X 轴的角度。Angle about the X-axis.
pitch	绕 Y 轴的角度。Angle about the Y-axis.
yaw	绕 Z 轴的角度。Angle about the Z-axis.

Definition at line 355 of file transform.hpp.

355: data_{roll, pitch, yaw} {}

LibXR::min

constexpr auto min(T1 a, T2 b) -> typename std::common_type< T1, T2 >::type

计算两个数的最小值

Definition libxr_def.hpp:161

◆ EulerAngle() [3/5]

template<typename Scalar >

LibXR::EulerAngle< Scalar >::EulerAngle ( const Eigen::Matrix< Scalar, 3, 1 > & p )

inline

通过 Eigen 3D 向量构造欧拉角对象。Constructs an Euler angle object using an Eigen 3D vector.

Parameters

p	含有 (roll, pitch, yaw) 的向量。Vector containing (roll, pitch, yaw).

Definition at line 362 of file transform.hpp.

362: data_{p.x(), p.y(), p.z()} {}

◆ EulerAngle() [4/5]

template<typename Scalar >

LibXR::EulerAngle< Scalar >::EulerAngle ( const EulerAngle< Scalar > & p )

inline

拷贝构造函数。Copy constructor.

Parameters

p	另一个 EulerAngle 对象。Another EulerAngle object.

Definition at line 368 of file transform.hpp.

368: data_{p.data_[0], p.data_[1], p.data_[2]} {}

◆ EulerAngle() [5/5]

template<typename Scalar >

template<typename T , std::enable_if_t< std::is_same< T, Scalar >::value||std::is_same< T, float >::value||std::is_same< T, double >::value, int > = 0>

LibXR::EulerAngle< Scalar >::EulerAngle ( const T(&) data[3] )

inline

通过 3 元素数组构造欧拉角对象。Constructs an Euler angle object using a 3-element array.

Template Parameters

T	数据类型，支持 Scalar、float 或 double。Data type, supporting Scalar, float, or double.

Parameters

data	存储 (roll, pitch, yaw) 的数组。Array storing (roll, pitch, yaw).

Definition at line 385 of file transform.hpp.

                                 : data_{data[0], data[1], data[2]}
  {
  }

Member Function Documentation

◆ operator Eigen::Matrix< Scalar, 3, 1 >()

template<typename Scalar >

LibXR::EulerAngle< Scalar >::operator Eigen::Matrix< Scalar, 3, 1 > ( ) const

inline

转换为 Eigen 3D 向量。Converts to an Eigen 3D vector.

Definition at line 390 of file transform.hpp.

  {
    return Eigen::Map<const Eigen::Matrix<Scalar, 3, 1>>(data_);
  }

◆ operator()()

template<typename Scalar >

Scalar LibXR::EulerAngle< Scalar >::operator() ( int i ) const

inline

获取欧拉角的某个分量。Retrieves a specific Euler angle component.

Definition at line 396 of file transform.hpp.

396{ return data_[i]; }

◆ operator=() [1/2]

template<typename Scalar >

EulerAngle & LibXR::EulerAngle< Scalar >::operator= ( const Eigen::Matrix< Scalar, 3, 1 > & p )

inline

赋值运算符，从 Eigen 3D 向量赋值。Assignment operator from an Eigen 3D vector.

Definition at line 400 of file transform.hpp.

  {
    data_[0] = p(0);
    data_[1] = p(1);
    data_[2] = p(2);
    return *this;
  }

◆ operator=() [2/2]

template<typename Scalar >

EulerAngle & LibXR::EulerAngle< Scalar >::operator= ( const EulerAngle< Scalar > & p )

inline

赋值运算符，从另一个 EulerAngle 赋值。Assignment operator from another EulerAngle.

Definition at line 410 of file transform.hpp.

  {
    if (this != &p)
    {
      memcpy(data_, p.data_, 3 * sizeof(Scalar));
    }
    return *this;
  }

◆ Pitch()

template<typename Scalar >

const Scalar & LibXR::EulerAngle< Scalar >::Pitch ( ) const

inline

Definition at line 371 of file transform.hpp.

371{ return data_[1]; }

◆ Roll()

template<typename Scalar >

const Scalar & LibXR::EulerAngle< Scalar >::Roll ( ) const

inline

Definition at line 370 of file transform.hpp.

370{ return data_[0]; }

◆ ToQuaternion()

template<typename Scalar >

Eigen::Quaternion< Scalar > LibXR::EulerAngle< Scalar >::ToQuaternion ( ) const

inline

Definition at line 489 of file transform.hpp.

489{ return ToQuaternionZYX(); }

◆ ToQuaternionXYZ()

template<typename Scalar >

Eigen::Quaternion< Scalar > LibXR::EulerAngle< Scalar >::ToQuaternionXYZ ( ) const

inline

转换为四元数，默认使用 ZYX 顺序。Converts to a quaternion using the ZYX order by default.

Definition at line 537 of file transform.hpp.

  {
    return Eigen::Quaternion<Scalar>(ToRotationMatrixXYZ());
  }

◆ ToQuaternionXZY()

template<typename Scalar >

Eigen::Quaternion< Scalar > LibXR::EulerAngle< Scalar >::ToQuaternionXZY ( ) const

inline

Definition at line 542 of file transform.hpp.

  {
    return Eigen::Quaternion<Scalar>(ToRotationMatrixXZY());
  }

◆ ToQuaternionYXZ()

template<typename Scalar >

Eigen::Quaternion< Scalar > LibXR::EulerAngle< Scalar >::ToQuaternionYXZ ( ) const

inline

Definition at line 547 of file transform.hpp.

  {
    return Eigen::Quaternion<Scalar>(ToRotationMatrixYXZ());
  }

◆ ToQuaternionYZX()

template<typename Scalar >

Eigen::Quaternion< Scalar > LibXR::EulerAngle< Scalar >::ToQuaternionYZX ( ) const

inline

Definition at line 552 of file transform.hpp.

  {
    return Eigen::Quaternion<Scalar>(ToRotationMatrixYZX());
  }

◆ ToQuaternionZXY()

template<typename Scalar >

Eigen::Quaternion< Scalar > LibXR::EulerAngle< Scalar >::ToQuaternionZXY ( ) const

inline

Definition at line 557 of file transform.hpp.

  {
    return Eigen::Quaternion<Scalar>(ToRotationMatrixZXY());
  }

◆ ToQuaternionZYX()

template<typename Scalar >

Eigen::Quaternion< Scalar > LibXR::EulerAngle< Scalar >::ToQuaternionZYX ( ) const

inline

Definition at line 562 of file transform.hpp.

  {
    return Eigen::Quaternion<Scalar>(ToRotationMatrixZYX());
  }

◆ ToRotationMatrix()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 3 > LibXR::EulerAngle< Scalar >::ToRotationMatrix ( ) const

inline

转换为旋转矩阵，默认使用 ZYX 顺序。Converts to a rotation matrix using the ZYX order by default.

Definition at line 421 of file transform.hpp.

421{ return ToRotationMatrixZYX(); }

◆ ToRotationMatrixXYZ()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 3 > LibXR::EulerAngle< Scalar >::ToRotationMatrixXYZ ( ) const

inline

Definition at line 467 of file transform.hpp.

  {
    Scalar ca = std::cos(Roll()), cb = std::cos(Pitch()), cc = std::cos(Yaw());
    Scalar sa = std::sin(Roll()), sb = std::sin(Pitch()), sc = std::sin(Yaw());
 
    return (Eigen::Matrix<Scalar, 3, 3>() << cb * cc, -cb * sc, sb,
            ca * sc + cc * sa * sb, ca * cc - sa * sb * sc, -cb * sa,
            sa * sc - ca * cc * sb, cc * sa + ca * sb * sc, ca * cb)
        .finished();
  }

◆ ToRotationMatrixXZY()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 3 > LibXR::EulerAngle< Scalar >::ToRotationMatrixXZY ( ) const

inline

Definition at line 478 of file transform.hpp.

  {
    Scalar ca = std::cos(Roll()), cb = std::cos(Yaw()), cc = std::cos(Pitch());
    Scalar sa = std::sin(Roll()), sb = std::sin(Yaw()), sc = std::sin(Pitch());
 
    return (Eigen::Matrix<Scalar, 3, 3>() << cb * cc, -sb, cb * sc,
            sa * sc + ca * cc * sb, ca * cb, ca * sb * sc - cc * sa,
            cc * sa * sb - ca * sc, cb * sa, ca * cc + sa * sb * sc)
        .finished();
  }

◆ ToRotationMatrixYXZ()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 3 > LibXR::EulerAngle< Scalar >::ToRotationMatrixYXZ ( ) const

inline

Definition at line 445 of file transform.hpp.

  {
    Scalar ca = std::cos(Pitch()), cb = std::cos(Roll()), cc = std::cos(Yaw());
    Scalar sa = std::sin(Pitch()), sb = std::sin(Roll()), sc = std::sin(Yaw());
 
    return (Eigen::Matrix<Scalar, 3, 3>() << ca * cc + sa * sb * sc,
            cc * sa * sb - ca * sc, cb * sa, cb * sc, cb * cc, -sb,
            ca * sb * sc - cc * sa, sa * sc + ca * cc * sb, ca * cb)
        .finished();
  }

◆ ToRotationMatrixYZX()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 3 > LibXR::EulerAngle< Scalar >::ToRotationMatrixYZX ( ) const

inline

Definition at line 456 of file transform.hpp.

  {
    Scalar ca = std::cos(Pitch()), cb = std::cos(Yaw()), cc = std::cos(Roll());
    Scalar sa = std::sin(Pitch()), sb = std::sin(Yaw()), sc = std::sin(Roll());
 
    return (Eigen::Matrix<Scalar, 3, 3>() << ca * cb, sa * sc - ca * cc * sb,
            cc * sa + ca * sb * sc, sb, cb * cc, -cb * sc, -cb * sa,
            ca * sc + cc * sa * sb, ca * cc - sa * sb * sc)
        .finished();
  }

◆ ToRotationMatrixZXY()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 3 > LibXR::EulerAngle< Scalar >::ToRotationMatrixZXY ( ) const

inline

Definition at line 434 of file transform.hpp.

  {
    Scalar ca = std::cos(Yaw()), cb = std::cos(Roll()), cc = std::cos(Pitch());
    Scalar sa = std::sin(Yaw()), sb = std::sin(Roll()), sc = std::sin(Pitch());
 
    return (Eigen::Matrix<Scalar, 3, 3>() << ca * cc - sa * sb * sc, -cb * sa,
            ca * sc + cc * sa * sb, cc * sa + ca * sb * sc, ca * cb,
            sa * sc - ca * cc * sb, -cb * sc, sb, cb * cc)
        .finished();
  }

◆ ToRotationMatrixZYX()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 3 > LibXR::EulerAngle< Scalar >::ToRotationMatrixZYX ( ) const

inline

Definition at line 423 of file transform.hpp.

  {
    Scalar ca = std::cos(Yaw()), cb = std::cos(Pitch()), cc = std::cos(Roll());
    Scalar sa = std::sin(Yaw()), sb = std::sin(Pitch()), sc = std::sin(Roll());
 
    return (Eigen::Matrix<Scalar, 3, 3>() << ca * cb, ca * sb * sc - cc * sa,
            sa * sc + ca * cc * sb, cb * sa, ca * cc + sa * sb * sc,
            cc * sa * sb - ca * sc, -sb, cb * sc, cb * cc)
        .finished();
  }

◆ Yaw()

template<typename Scalar >

const Scalar & LibXR::EulerAngle< Scalar >::Yaw ( ) const

inline

Definition at line 372 of file transform.hpp.

372{ return data_[2]; }

Field Documentation

◆ data_

template<typename Scalar >

Scalar LibXR::EulerAngle< Scalar >::data_[3]

存储欧拉角的数组。Array storing Euler angles.

Definition at line 342 of file transform.hpp.

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

src/utils/transform.hpp

Public Member Functions

Data Fields

Detailed Description

Constructor & Destructor Documentation

◆ EulerAngle() [1/5]

◆ EulerAngle() [2/5]

◆ EulerAngle() [3/5]

◆ EulerAngle() [4/5]

◆ EulerAngle() [5/5]

Member Function Documentation

◆ operator Eigen::Matrix< Scalar, 3, 1 >()

◆ operator()()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Pitch()

◆ Roll()

◆ ToQuaternion()

◆ ToQuaternionXYZ()

◆ ToQuaternionXZY()

◆ ToQuaternionYXZ()

◆ ToQuaternionYZX()

◆ ToQuaternionZXY()

◆ ToQuaternionZYX()

◆ ToRotationMatrix()

◆ ToRotationMatrixXYZ()

◆ ToRotationMatrixXZY()

◆ ToRotationMatrixYXZ()

◆ ToRotationMatrixYZX()

◆ ToRotationMatrixZXY()

◆ ToRotationMatrixZYX()

◆ Yaw()

Field Documentation

◆ data_