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Doc EulerAngles class, and minor fixes.
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Tal Hadad
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52e4cbf539
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e30133e439
@ -22,6 +22,8 @@ namespace Eigen {
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* \defgroup EulerAngles_Module EulerAngles module
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* \brief This module provides generic euler angles rotation.
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*
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* See EulerAngles for more information.
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*
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* \code
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* #include <unsupported/Eigen/EulerAngles>
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* \endcode
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@ -21,9 +21,9 @@ namespace Eigen
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*
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* \brief Represents a rotation in a 3 dimensional space as three Euler angles
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*
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* \param _Scalar the scalar type, i.e., the type of the angles.
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* \sa _Scalar the scalar type, i.e., the type of the angles.
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*
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* \sa cl
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* \sa _System the EulerSystem to use, which represents the axes of rotation.
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*/
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template <typename _Scalar, class _System>
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class EulerAngles : public RotationBase<EulerAngles<_Scalar, _System>, 3>
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@ -38,16 +38,19 @@ namespace Eigen
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typedef Quaternion<Scalar> QuaternionType;
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typedef AngleAxis<Scalar> AngleAxisType;
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/** \returns the axis vector of the first (alpha) rotation */
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static Vector3 AlphaAxisVector() {
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const Vector3& u = Vector3::Unit(System::AlphaAxisAbs - 1);
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return System::IsAlphaOpposite ? -u : u;
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}
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/** \returns the axis vector of the second (beta) rotation */
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static Vector3 BetaAxisVector() {
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const Vector3& u = Vector3::Unit(System::BetaAxisAbs - 1);
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return System::IsBetaOpposite ? -u : u;
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}
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/** \returns the axis vector of the third (gamma) rotation */
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static Vector3 GammaAxisVector() {
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const Vector3& u = Vector3::Unit(System::GammaAxisAbs - 1);
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return System::IsGammaOpposite ? -u : u;
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@ -57,15 +60,31 @@ namespace Eigen
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Vector3 m_angles;
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public:
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/** Default constructor without initialization. */
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EulerAngles() {}
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inline EulerAngles(Scalar alpha, Scalar beta, Scalar gamma) : m_angles(alpha, beta, gamma) {}
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/** Constructs and initialize euler angles(\p alpha, \p beta, \p gamma). */
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EulerAngles(Scalar alpha, Scalar beta, Scalar gamma) : m_angles(alpha, beta, gamma) {}
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/** Constructs and initialize euler angles from a 3x3 rotation matrix \p m.
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*
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* \note All angles will be in the range [-PI, PI].
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*/
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template<typename Derived>
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inline EulerAngles(const MatrixBase<Derived>& m) { *this = m; }
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EulerAngles(const MatrixBase<Derived>& m) { *this = m; }
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/** Constructs and initialize euler angles from a 3x3 rotation matrix \p m,
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* with options to choose for each angle the requested range.
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*
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* If possitive range is true, then the specified angle will be in the range [0, +2*PI].
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* Otherwise, the specified angle will be in the range [-PI, +PI].
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*
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* \param m The 3x3 rotation matrix to convert
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* \param positiveRangeAlpha If true, alpha will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
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* \param positiveRangeBeta If true, beta will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
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* \param positiveRangeGamma If true, gamma will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
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*/
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template<typename Derived>
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inline EulerAngles(
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EulerAngles(
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const MatrixBase<Derived>& m,
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bool positiveRangeAlpha,
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bool positiveRangeBeta,
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@ -74,11 +93,26 @@ namespace Eigen
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System::CalcEulerAngles(*this, m, positiveRangeAlpha, positiveRangeBeta, positiveRangeGamma);
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}
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/** Constructs and initialize euler angles from a rotation \p rot.
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*
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* \note All angles will be in the range [-PI, PI].
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*/
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template<typename Derived>
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inline EulerAngles(const RotationBase<Derived, 3>& rot) { *this = rot; }
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EulerAngles(const RotationBase<Derived, 3>& rot) { *this = rot; }
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/** Constructs and initialize euler angles from a rotation \p rot,
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* with options to choose for each angle the requested range.
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*
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* If possitive range is true, then the specified angle will be in the range [0, +2*PI].
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* Otherwise, the specified angle will be in the range [-PI, +PI].
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*
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* \param rot The 3x3 rotation matrix to convert
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* \param positiveRangeAlpha If true, alpha will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
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* \param positiveRangeBeta If true, beta will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
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* \param positiveRangeGamma If true, gamma will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
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*/
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template<typename Derived>
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inline EulerAngles(
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EulerAngles(
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const RotationBase<Derived, 3>& rot,
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bool positiveRangeAlpha,
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bool positiveRangeBeta,
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@ -87,18 +121,29 @@ namespace Eigen
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System::CalcEulerAngles(*this, rot.toRotationMatrix(), positiveRangeAlpha, positiveRangeBeta, positiveRangeGamma);
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}
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/** \returns The angle values stored in a vector (alpha, beta, gamma). */
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const Vector3& angles() const { return m_angles; }
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/** \returns A read-write reference to the angle values stored in a vector (alpha, beta, gamma). */
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Vector3& angles() { return m_angles; }
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/** \returns The value of the first angle. */
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Scalar alpha() const { return m_angles[0]; }
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/** \returns A read-write reference to the angle of the first angle. */
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Scalar& alpha() { return m_angles[0]; }
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/** \returns The value of the second angle. */
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Scalar beta() const { return m_angles[1]; }
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/** \returns A read-write reference to the angle of the second angle. */
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Scalar& beta() { return m_angles[1]; }
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/** \returns The value of the third angle. */
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Scalar gamma() const { return m_angles[2]; }
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/** \returns A read-write reference to the angle of the third angle. */
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Scalar& gamma() { return m_angles[2]; }
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/** \returns The euler angles rotation inverse (which is as same as the negative),
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* (-alpha, -beta, -gamma).
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*/
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EulerAngles inverse() const
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{
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EulerAngles res;
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@ -106,12 +151,24 @@ namespace Eigen
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return res;
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}
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/** \returns The euler angles rotation negative (which is as same as the inverse),
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* (-alpha, -beta, -gamma).
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*/
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EulerAngles operator -() const
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{
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return inverse();
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}
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/** Constructs and \returns an equivalent 3x3 rotation matrix.
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/** Constructs and initialize euler angles from a 3x3 rotation matrix \p m,
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* with options to choose for each angle the requested range (__only in compile time__).
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*
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* If possitive range is true, then the specified angle will be in the range [0, +2*PI].
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* Otherwise, the specified angle will be in the range [-PI, +PI].
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*
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* \param m The 3x3 rotation matrix to convert
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* \tparam positiveRangeAlpha If true, alpha will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
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* \tparam positiveRangeBeta If true, beta will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
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* \tparam positiveRangeGamma If true, gamma will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
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*/
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template<
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bool PositiveRangeAlpha,
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@ -125,6 +182,17 @@ namespace Eigen
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return e;
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}
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/** Constructs and initialize euler angles from a rotation \p rot,
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* with options to choose for each angle the requested range (__only in compile time__).
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*
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* If possitive range is true, then the specified angle will be in the range [0, +2*PI].
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* Otherwise, the specified angle will be in the range [-PI, +PI].
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*
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* \param rot The 3x3 rotation matrix to convert
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* \tparam positiveRangeAlpha If true, alpha will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
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* \tparam positiveRangeBeta If true, beta will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
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* \tparam positiveRangeGamma If true, gamma will be in [0, 2*PI]. Otherwise, in [-PI, +PI].
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*/
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template<
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bool PositiveRangeAlpha,
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bool PositiveRangeBeta,
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@ -149,8 +217,7 @@ namespace Eigen
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//m_angles[2] = std::atan2(2*(q.w()*q.x() + q.y()*q.z()), (1 - 2*(q.x()*q.x() + y2)));
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}*/
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/** Set \c *this from a rotation matrix(i.e. pure orthogonal matrix with determinent of +1).
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*/
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/** Set \c *this from a rotation matrix(i.e. pure orthogonal matrix with determinant of +1). */
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template<typename Derived>
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EulerAngles& operator=(const MatrixBase<Derived>& m) {
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System::CalcEulerAngles(*this, m);
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@ -159,8 +226,7 @@ namespace Eigen
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// TODO: Assign and construct from another EulerAngles (with different system)
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/** Set \c *this from a rotation.
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*/
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/** Set \c *this from a rotation. */
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template<typename Derived>
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EulerAngles& operator=(const RotationBase<Derived, 3>& rot) {
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System::CalcEulerAngles(*this, rot.toRotationMatrix());
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@ -169,11 +235,13 @@ namespace Eigen
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// TODO: Support isApprox function
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/** \returns an equivalent 3x3 rotation matrix. */
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Matrix3 toRotationMatrix() const
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{
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return static_cast<QuaternionType>(*this).toRotationMatrix();
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}
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/** \returns an equivalent quaternion */
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QuaternionType toQuaternion() const
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{
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return
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@ -181,7 +249,8 @@ namespace Eigen
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AngleAxisType(beta(), BetaAxisVector()) *
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AngleAxisType(gamma(), GammaAxisVector());
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}
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/** Convert the euler angles to quaternion. */
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operator QuaternionType() const
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{
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return toQuaternion();
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@ -103,7 +103,7 @@ namespace Eigen
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res[0] = atan2(mat(J,K), mat(K,K));
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Scalar c2 = Vector2(mat(I,I), mat(I,J)).norm();
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if((IsOdd && res[0]<Scalar(0)) || ((!IsOdd) && res[0]>Scalar(0))) {
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res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI);
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res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(EIGEN_PI) : res[0] + Scalar(EIGEN_PI);
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res[1] = atan2(-mat(I,K), -c2);
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}
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else
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@ -126,7 +126,7 @@ namespace Eigen
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res[0] = atan2(mat(J,I), mat(K,I));
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if((IsOdd && res[0]<Scalar(0)) || ((!IsOdd) && res[0]>Scalar(0)))
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{
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res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI);
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res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(EIGEN_PI) : res[0] + Scalar(EIGEN_PI);
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Scalar s2 = Vector2(mat(J,I), mat(K,I)).norm();
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res[1] = -atan2(s2, mat(I,I));
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}
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@ -206,20 +206,23 @@ namespace Eigen
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}
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};
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typedef EulerSystem<EULER_X, EULER_Y, EULER_Z> EulerSystemXYZ;
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typedef EulerSystem<EULER_X, EULER_Y, EULER_X> EulerSystemXYX;
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typedef EulerSystem<EULER_X, EULER_Z, EULER_Y> EulerSystemXZY;
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typedef EulerSystem<EULER_X, EULER_Z, EULER_X> EulerSystemXZX;
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typedef EulerSystem<EULER_Y, EULER_Z, EULER_X> EulerSystemYZX;
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typedef EulerSystem<EULER_Y, EULER_Z, EULER_Y> EulerSystemYZY;
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typedef EulerSystem<EULER_Y, EULER_X, EULER_Z> EulerSystemYXZ;
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typedef EulerSystem<EULER_Y, EULER_X, EULER_Y> EulerSystemYXY;
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typedef EulerSystem<EULER_Z, EULER_X, EULER_Y> EulerSystemZXY;
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typedef EulerSystem<EULER_Z, EULER_X, EULER_Z> EulerSystemZXZ;
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typedef EulerSystem<EULER_Z, EULER_Y, EULER_X> EulerSystemZYX;
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typedef EulerSystem<EULER_Z, EULER_Y, EULER_Z> EulerSystemZYZ;
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#define EIGEN_EULER_SYSTEM_TYPEDEF(A, B, C) \
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typedef EulerSystem<EULER_##A, EULER_##B, EULER_##C> EulerSystem##A##B##C;
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EIGEN_EULER_SYSTEM_TYPEDEF(X,Y,Z)
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EIGEN_EULER_SYSTEM_TYPEDEF(X,Y,X)
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EIGEN_EULER_SYSTEM_TYPEDEF(X,Z,Y)
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EIGEN_EULER_SYSTEM_TYPEDEF(X,Z,X)
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EIGEN_EULER_SYSTEM_TYPEDEF(Y,Z,X)
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EIGEN_EULER_SYSTEM_TYPEDEF(Y,Z,Y)
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EIGEN_EULER_SYSTEM_TYPEDEF(Y,X,Z)
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EIGEN_EULER_SYSTEM_TYPEDEF(Y,X,Y)
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EIGEN_EULER_SYSTEM_TYPEDEF(Z,X,Y)
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EIGEN_EULER_SYSTEM_TYPEDEF(Z,X,Z)
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EIGEN_EULER_SYSTEM_TYPEDEF(Z,Y,X)
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EIGEN_EULER_SYSTEM_TYPEDEF(Z,Y,Z)
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}
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#endif // EIGEN_EULERSYSTEM_H
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