#include <AxisAngle.hpp>

Inheritance diagram for matrix::Euler< Type >:

Collaboration diagram for matrix::Euler< Type >:

Public Member Functions
	Euler ()=default
	Standard constructor. More...

	Euler (const Vector< Type, 3 > &other)
	Copy constructor. More...

	Euler (const Matrix< Type, 3, 1 > &other)
	Constructor from Matrix31. More...

	Euler (Type phi_, Type theta_, Type psi_)
	Constructor from euler angles. More...

	Euler (const Dcm< Type > &dcm)
	Constructor from DCM matrix. More...

	Euler (const Quaternion< Type > &q)
	Constructor from quaternion instance. More...

Type	phi () const

Type	theta () const

Type	psi () const

Type &	phi ()

Type &	theta ()

Type &	psi ()

Public Member Functions inherited from matrix::Vector< Type, 3 >
	Vector ()=default

	Vector (const MatrixM1 &other)

	Vector (const Type data_[M])

	Vector (const Slice< Type, M, 1, P, Q > &slice_in)

Type	operator() (size_t i) const

Type &	operator() (size_t i)

Type	dot (const MatrixM1 &b) const

Type	operator* (const MatrixM1 &b) const

Vector	operator* (Type b) const

Type	norm () const

Type	norm_squared () const

Type	length () const

void	normalize ()

Vector	unit () const

Vector	unit_or_zero (const Type eps=Type(1e-5)) const

Vector	normalized () const

bool	longerThan (Type testVal) const

Vector	sqrt () const

Public Member Functions inherited from matrix::Matrix< Type, M, 1 >
	Matrix ()=default

	Matrix (const Type data_[M *N])

	Matrix (const Type data_[M][N])

	Matrix (const Matrix &other)

	Matrix (const Slice< Type, M, N, P, Q > &in_slice)

Type	operator() (size_t i, size_t j) const
	Accessors/ Assignment etc. More...

Type &	operator() (size_t i, size_t j)

Matrix< Type, M, N > &	operator= (const Matrix< Type, M, N > &other)

void	copyTo (Type dst[M *N]) const

void	copyToColumnMajor (Type dst[M *N]) const

Matrix< Type, M, P >	operator* (const Matrix< Type, N, P > &other) const
	Matrix Operations. More...

Matrix< Type, M, N >	operator* (Type scalar) const
	Scalar Operations. More...

Matrix< Type, M, N >	emult (const Matrix< Type, M, N > &other) const

Matrix< Type, M, N >	edivide (const Matrix< Type, M, N > &other) const

Matrix< Type, M, N >	operator+ (const Matrix< Type, M, N > &other) const

Matrix< Type, M, N >	operator+ (Type scalar) const

Matrix< Type, M, N >	operator- (const Matrix< Type, M, N > &other) const

Matrix< Type, M, N >	operator- () const

Matrix< Type, M, N >	operator- (Type scalar) const

void	operator+= (const Matrix< Type, M, N > &other)

void	operator+= (Type scalar)

void	operator-= (const Matrix< Type, M, N > &other)

void	operator-= (Type scalar)

void	operator*= (const Matrix< Type, N, P > &other)

void	operator*= (Type scalar)

Matrix< Type, M, N >	operator/ (Type scalar) const

void	operator/= (Type scalar)

bool	operator== (const Matrix< Type, M, N > &other) const

bool	operator!= (const Matrix< Type, M, N > &other) const

void	write_string (char *buf, size_t n) const
	Misc. More...

void	print (FILE *stream=stdout) const

Matrix< Type, N, M >	transpose () const

Matrix< Type, N, M >	T () const

const Slice< Type, P, Q, M, N >	slice (size_t x0, size_t y0) const

Slice< Type, P, Q, M, N >	slice (size_t x0, size_t y0)

const Slice< Type, 1, N, M, N >	row (size_t i) const

Slice< Type, 1, N, M, N >	row (size_t i)

const Slice< Type, M, 1, M, N >	col (size_t j) const

Slice< Type, M, 1, M, N >	col (size_t j)

void	setRow (size_t i, const Matrix< Type, N, 1 > &row_in)

void	setCol (size_t j, const Matrix< Type, M, 1 > &column)

void	setZero ()

void	zero ()

void	setAll (Type val)

void	setOne ()

void	setNaN ()

void	setIdentity ()

void	identity ()

void	swapRows (size_t a, size_t b)

void	swapCols (size_t a, size_t b)

Matrix< Type, M, N >	abs () const

Type	max () const

Type	min () const

bool	isAllNan () const

Additional Inherited Members
Public Types inherited from matrix::Vector< Type, 3 >
typedef Matrix< Type, M, 1 >	MatrixM1

Detailed Description

template<typename Type>
class matrix::Euler< Type >

Euler angles class.

This class describes the rotation from frame 1 to frame 2 via 3-2-1 intrinsic Tait-Bryan rotation sequence.

Definition at line 18 of file AxisAngle.hpp.

Constructor & Destructor Documentation

◆ Euler() [1/6]

template<typename Type>

matrix::Euler< Type >::Euler ( )

default

Standard constructor.

Referenced by matrix::Euler< Type >::Euler().

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◆ Euler() [2/6]

template<typename Type>

matrix::Euler< Type >::Euler ( const Vector< Type, 3 > & other )

inline

Copy constructor.

Parameters

other vector to copy

Definition at line 49 of file Euler.hpp.

◆ Euler() [3/6]

template<typename Type>

matrix::Euler< Type >::Euler ( const Matrix< Type, 3, 1 > & other )

inline

Constructor from Matrix31.

Parameters

other Matrix31 to copy

Definition at line 59 of file Euler.hpp.

◆ Euler() [4/6]

template<typename Type>

matrix::Euler< Type >::Euler	(	Type	phi_,
		Type	theta_,
		Type	psi_
	)

inline

Constructor from euler angles.

Instance is initialized from an 3-2-1 intrinsic Tait-Bryan rotation sequence representing transformation from frame 1 to frame 2.

Parameters

phi_	rotation angle about X axis
theta_	rotation angle about Y axis
psi_	rotation angle about Z axis

Definition at line 75 of file Euler.hpp.

References matrix::Euler< Type >::phi(), matrix::Euler< Type >::psi(), and matrix::Euler< Type >::theta().

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◆ Euler() [5/6]

template<typename Type>

matrix::Euler< Type >::Euler ( const Dcm< Type > & dcm )

inline

Constructor from DCM matrix.

Instance is set from Dcm representing transformation from frame 2 to frame 1. This instance will hold the angles defining the 3-2-1 intrinsic Tait-Bryan rotation sequence from frame 1 to frame 2.

Parameters

dcm	Direction cosine matrix

Definition at line 92 of file Euler.hpp.

References matrix::asin(), matrix::atan2(), M_PI, matrix::Euler< Type >::phi(), matrix::Euler< Type >::psi(), and matrix::Euler< Type >::theta().

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◆ Euler() [6/6]

template<typename Type>

matrix::Euler< Type >::Euler ( const Quaternion< Type > & q )

inline

Constructor from quaternion instance.

Instance is set from a quaternion representing transformation from frame 2 to frame 1. This instance will hold the angles defining the 3-2-1 intrinsic Tait-Bryan rotation sequence from frame 1 to frame 2.

Parameters

q	quaternion

Definition at line 123 of file Euler.hpp.

References matrix::Euler< Type >::Euler().

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Member Function Documentation

◆ phi() [1/2]

template<typename Type>

Type matrix::Euler< Type >::phi ( ) const

inline

Definition at line 128 of file Euler.hpp.

Referenced by VtolType::check_quadchute_condition(), matrix::Dcm< float >::Dcm(), do_level_calibration(), matrix::Euler< Type >::Euler(), BlockLocalPositionEstimator::flowCorrect(), BlockLocalPositionEstimator::flowMeasure(), BlockLocalPositionEstimator::lidarMeasure(), TerrainEstimator::measurement_update(), matrix::Quaternion< Type >::Quaternion(), FixedwingAttitudeControl::Run(), px4::bst::BST::Run(), MavlinkStreamAttitude::send(), BlockLocalPositionEstimator::sonarMeasure(), Tailsitter::update_transition_state(), and FailureDetector::updateAttitudeStatus().

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◆ phi() [2/2]

template<typename Type>

Type& matrix::Euler< Type >::phi ( )

inline

Definition at line 141 of file Euler.hpp.

◆ psi() [1/2]

template<typename Type>

Type matrix::Euler< Type >::psi ( ) const

inline

Definition at line 136 of file Euler.hpp.

Referenced by matrix::Dcm< float >::Dcm(), matrix::Euler< Type >::Euler(), Simulator::handle_message_hil_state_quaternion(), matrix::Quaternion< Type >::Quaternion(), FixedwingAttitudeControl::Run(), px4::bst::BST::Run(), MavlinkStreamAttitude::send(), and Tailsitter::update_transition_state().

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◆ psi() [2/2]

template<typename Type>

Type& matrix::Euler< Type >::psi ( )

inline

Definition at line 149 of file Euler.hpp.

◆ theta() [1/2]

template<typename Type>

Type matrix::Euler< Type >::theta ( ) const

inline

Definition at line 132 of file Euler.hpp.

Referenced by VtolType::check_quadchute_condition(), matrix::Dcm< float >::Dcm(), do_level_calibration(), matrix::Euler< Type >::Euler(), BlockLocalPositionEstimator::flowCorrect(), BlockLocalPositionEstimator::flowMeasure(), BlockLocalPositionEstimator::lidarMeasure(), TerrainEstimator::measurement_update(), matrix::Quaternion< Type >::Quaternion(), FixedwingAttitudeControl::Run(), px4::bst::BST::Run(), MavlinkStreamAttitude::send(), BlockLocalPositionEstimator::sonarMeasure(), Tailsitter::update_transition_state(), and FailureDetector::updateAttitudeStatus().

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◆ theta() [2/2]

template<typename Type>

Type& matrix::Euler< Type >::theta ( )

inline

Definition at line 145 of file Euler.hpp.

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

src/lib/matrix/matrix/AxisAngle.hpp
src/lib/matrix/matrix/Euler.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename Type> class matrix::Euler< Type >

Constructor & Destructor Documentation

◆ Euler() [1/6]

◆ Euler() [2/6]

◆ Euler() [3/6]

◆ Euler() [4/6]

◆ Euler() [5/6]

◆ Euler() [6/6]

Member Function Documentation

◆ phi() [1/2]

◆ phi() [2/2]

◆ psi() [1/2]

◆ psi() [2/2]

◆ theta() [1/2]

◆ theta() [2/2]

template<typename Type>
class matrix::Euler< Type >