mrs_lib::AttitudeConverter Class Reference

The main convertor class. Instantiate with any type in constructor and get the value in any other type by assigning the instance to your variable, as: tf::Quaternion tf1_quaternion = AttitudeConverter(roll, pitch, yaw); All the default Euler angles are in the extrinsic RPY notation. More...

#include <attitude_converter.h>

Classes
struct	EulerFormatException
	is thrown when the Euler angle format is set wrongly More...
struct	GetHeadingException
	is thrown when calculating of heading is not possible due to atan2 exception More...
struct	InvalidAttitudeException
	is thrown when the internal attitude becomes invalid More...
struct	MathErrorException
	is thrown when math breaks More...
struct	SetHeadingException
	is thrown when the heading cannot be set to an existing attitude More...

Public Member Functions
	AttitudeConverter (const double &roll, const double &pitch, const double &yaw, const RPY_convention_t &format=RPY_EXTRINSIC)
	Euler angles constructor. More...
	AttitudeConverter (const tf::Quaternion quaternion)
	tf::Quaternion constructor More...
	AttitudeConverter (const geometry_msgs::Quaternion quaternion)
	geometry_msgs::Quaternion constructor More...
	AttitudeConverter (const mrs_lib::EulerAttitude &euler_attitude)
	mrs_lib::EulerAttitude constructor More...
	AttitudeConverter (const Eigen::Quaterniond quaternion)
	Eigen::Quaterniond constructor. More...
	AttitudeConverter (const Eigen::Matrix3d matrix)
	Eigen::Matrix3d constructor. More...
template<class T >
	AttitudeConverter (const Eigen::AngleAxis< T > angle_axis)
	Eigen::AngleAxis constructor. More...
	AttitudeConverter (const tf2::Quaternion quaternion)
	tf2::Quaternion constructor More...
	AttitudeConverter (const tf2::Matrix3x3 matrix)
	tf2::Matrix3x3 constructor More...
	operator tf2::Quaternion () const
	typecast to tf2::Quaternion More...
	operator tf::Quaternion () const
	typecast to tf::Quaternion More...
	operator geometry_msgs::Quaternion () const
	typecast to geometry_msgs::Quaternion More...
	operator EulerAttitude () const
	typecast to EulerAttitude More...
template<class T >
	operator Eigen::AngleAxis< T > () const
	typecast to Eigen::AngleAxis More...
template<class T >
	operator Eigen::Quaternion< T > () const
	typecast to EulerAttitude Eigen::Quaternion More...
	operator Eigen::Matrix3d () const
	operator std::tuple< double &, double &, double & > ()
	typecase to tuple of Euler angles in extrinsic RPY More...
	operator tf2::Matrix3x3 () const
	typecase to tf2::Matrix3x3 More...
	operator tf2::Transform () const
	typecase to tf2::Transform More...
double	getRoll (void)
	get the roll angle More...
double	getPitch (void)
	get the pitch angle More...
double	getYaw (void)
	get the yaw angle More...
double	getHeading (void)
	get the angle of the rotated x-axis in the original XY plane, a.k.a More...
double	getHeadingRate (const Vector3Converter &attitude_rate)
	get heading rate base on the orientation and body-based attitude rate More...
double	getYawRateIntrinsic (const double &heading_rate)
	get the intrinsic yaw rate from a heading rate More...
Vector3Converter	getVectorX (void)
	get a unit vector pointing in the X direction More...
Vector3Converter	getVectorY (void)
	get a unit vector pointing in the Y direction More...
Vector3Converter	getVectorZ (void)
	get a unit vector pointing in the Z direction More...
std::tuple< double, double, double >	getIntrinsicRPY ()
	get the Roll, Pitch, Yaw angles in the Intrinsic convention More...
std::tuple< double, double, double >	getExtrinsicRPY ()
	get the Roll, Pitch, Yaw angles in the Extrinsic convention. The same as the default AttitudeConverter assignment. More...
AttitudeConverter	setHeading (const double &heading)
	Updates the heading of the current orientation by updating the intrinsic yaw. More...
AttitudeConverter	setYaw (const double &new_yaw)
	Updates the extrinsic yaw of the current orientation. More...
template<std::size_t I>
constexpr auto	get ()

Detailed Description

The main convertor class. Instantiate with any type in constructor and get the value in any other type by assigning the instance to your variable, as: tf::Quaternion tf1_quaternion = AttitudeConverter(roll, pitch, yaw); All the default Euler angles are in the extrinsic RPY notation.

Constructor & Destructor Documentation

AttitudeConverter() [1/9]

mrs_lib::AttitudeConverter::AttitudeConverter	(	const double &	roll,
		const double &	pitch,
		const double &	yaw,
		const RPY_convention_t &	format = RPY_EXTRINSIC
	)

Euler angles constructor.

Parameters

roll
pitch
yaw
format	optional, Euler angle convention, {"extrinsic", "intrinsic"}, defaults to "extrinsic"

AttitudeConverter() [2/9]

mrs_lib::AttitudeConverter::AttitudeConverter

(

const tf::Quaternion

quaternion

)

tf::Quaternion constructor

Parameters

quaternion

tf::Quaternion quaternion

AttitudeConverter() [3/9]

mrs_lib::AttitudeConverter::AttitudeConverter

(

const geometry_msgs::Quaternion

quaternion

)

geometry_msgs::Quaternion constructor

Parameters

quaternion

geometry_msgs::Quaternion quaternion

AttitudeConverter() [4/9]

mrs_lib::AttitudeConverter::AttitudeConverter

(

const mrs_lib::EulerAttitude &

euler_attitude

)

mrs_lib::EulerAttitude constructor

Parameters

euler_attitude

mrs_lib::EulerAttitude

AttitudeConverter() [5/9]

mrs_lib::AttitudeConverter::AttitudeConverter

(

const Eigen::Quaterniond

quaternion

)

Eigen::Quaterniond constructor.

Parameters

quaternion

Eigen::Quaterniond quaternion

AttitudeConverter() [6/9]

mrs_lib::AttitudeConverter::AttitudeConverter

(

const Eigen::Matrix3d

matrix

)

Eigen::Matrix3d constructor.

Parameters

matrix

Eigen::Matrix3d rotational matrix

AttitudeConverter() [7/9]

template<class T >

mrs_lib::AttitudeConverter::AttitudeConverter ( const Eigen::AngleAxis< T >  angle_axis )

inline

Eigen::AngleAxis constructor.

Template Parameters

T	angle-axis base type

Parameters

angle_axis

Eigen::AngleAxis

AttitudeConverter() [8/9]

mrs_lib::AttitudeConverter::AttitudeConverter

(

const tf2::Quaternion

quaternion

)

tf2::Quaternion constructor

Parameters

quaternion

tf2::Quaternion

AttitudeConverter() [9/9]

mrs_lib::AttitudeConverter::AttitudeConverter

(

const tf2::Matrix3x3

matrix

)

tf2::Matrix3x3 constructor

Parameters

quaternion

tf2::Matrix3x3

Member Function Documentation

getExtrinsicRPY()

std::tuple< double, double, double > mrs_lib::AttitudeConverter::getExtrinsicRPY

(

)

get the Roll, Pitch, Yaw angles in the Extrinsic convention. The same as the default AttitudeConverter assignment.

Returns

RPY

getHeading()

double mrs_lib::AttitudeConverter::getHeading

(

void

)

get the angle of the rotated x-axis in the original XY plane, a.k.a

Returns

heading

getHeadingRate()

double mrs_lib::AttitudeConverter::getHeadingRate

(

const Vector3Converter &

attitude_rate

)

get heading rate base on the orientation and body-based attitude rate

Parameters

attitude_rate

in the body frame

Returns

heading rate in the world

getIntrinsicRPY()

std::tuple< double, double, double > mrs_lib::AttitudeConverter::getIntrinsicRPY

(

)

get the Roll, Pitch, Yaw angles in the Intrinsic convention

Returns

RPY

getPitch()

double mrs_lib::AttitudeConverter::getPitch

(

void

)

get the pitch angle

Returns

pitch

getRoll()

double mrs_lib::AttitudeConverter::getRoll

(

void

)

get the roll angle

Returns

roll

getVectorX()

Vector3Converter mrs_lib::AttitudeConverter::getVectorX

(

void

)

get a unit vector pointing in the X direction

Returns

the vector

getVectorY()

Vector3Converter mrs_lib::AttitudeConverter::getVectorY

(

void

)

get a unit vector pointing in the Y direction

Returns

the vector

getVectorZ()

Vector3Converter mrs_lib::AttitudeConverter::getVectorZ

(

void

)

get a unit vector pointing in the Z direction

Returns

the vector

getYaw()

double mrs_lib::AttitudeConverter::getYaw

(

void

)

get the yaw angle

Returns

yaw

getYawRateIntrinsic()

double mrs_lib::AttitudeConverter::getYawRateIntrinsic

(

const double &

heading_rate

)

get the intrinsic yaw rate from a heading rate

Parameters

heading_rate

Returns

intrinsic yaw rate

operator Eigen::AngleAxis< T >()

template<class T >

mrs_lib::AttitudeConverter::operator Eigen::AngleAxis< T > ( ) const

inline

typecast to Eigen::AngleAxis

Template Parameters

T	angle-axis base type

Returns

orientation in EulerAttitude

operator Eigen::Quaternion< T >()

template<class T >

mrs_lib::AttitudeConverter::operator Eigen::Quaternion< T > ( ) const

inline

typecast to EulerAttitude Eigen::Quaternion

Template Parameters

T	quaternion base type

Returns

orientation in Eigen::Quaternion

operator EulerAttitude()

mrs_lib::AttitudeConverter::operator EulerAttitude

(

)

const

typecast to EulerAttitude

Returns

orientation in EulerAttitude

operator geometry_msgs::Quaternion()

mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion

(

)

const

typecast to geometry_msgs::Quaternion

Returns

orientation in geometry_msgs::Quaternion

operator std::tuple< double &, double &, double & >()

mrs_lib::AttitudeConverter::operator std::tuple< double &, double &, double & >

(

)

typecase to tuple of Euler angles in extrinsic RPY

Returns

std::tuple of extrinsic RPY

operator tf2::Matrix3x3()

mrs_lib::AttitudeConverter::operator tf2::Matrix3x3

(

)

const

typecase to tf2::Matrix3x3

Returns

tf2::Matrix3x3 rotational matrix

operator tf2::Quaternion()

mrs_lib::AttitudeConverter::operator tf2::Quaternion

(

)

const

typecast to tf2::Quaternion

Returns

orientation in tf2::Quaternion

operator tf2::Transform()

mrs_lib::AttitudeConverter::operator tf2::Transform

(

)

const

typecase to tf2::Transform

Returns

tf2::Transform

operator tf::Quaternion()

mrs_lib::AttitudeConverter::operator tf::Quaternion

(

)

const

typecast to tf::Quaternion

Returns

orientation in tf::Quaternion

setHeading()

AttitudeConverter mrs_lib::AttitudeConverter::setHeading

(

const double &

heading

)

Updates the heading of the current orientation by updating the intrinsic yaw.

Parameters

new

heading

Returns

the orientation

setYaw()

AttitudeConverter mrs_lib::AttitudeConverter::setYaw

(

const double &

new_yaw

)

Updates the extrinsic yaw of the current orientation.

Parameters

new

yaw

Returns

the orientation

---

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

• include/mrs_lib/attitude_converter.h
• src/attitude_converter/attitude_converter.cpp