Namespace inertialsim::geometry::euler_angles¶

Namespace List > inertialsim > geometry > euler_angles

Public Functions¶

Type	Name
EulerAngles	FromEuler (const EulerAngles & angles, const std::string & sequence) Euler angle representation from Euler angles.
std::pair< EulerAngles, BooleanArray >	FromMatrix (const RotationMatrixArray & matrix, const std::string & sequence, bool passive=false) Euler angle representation from rotation matrix.
EulerAngles	FromQuaternion (const Quaternion & quaternion, const std::string & sequence) Euler angle representation from quaternion.
EulerAngles	Validate (const EulerAngles & angles, const std::string & sequence) Validates inputs meet Euler angle conventions.
void	ValidateSequence (const std::string & sequence) Validates a string representing the sequence of Euler angles.

Public Functions Documentation¶

function FromEuler¶

Euler angle representation from Euler angles.

EulerAngles inertialsim::geometry::euler_angles::FromEuler (
    const EulerAngles & angles,
    const std::string & sequence
)

Parameters:

angles Euler angles in radians (3, N).
sequence Three-character string defining the axis sequence.

Returns:

Validated Euler angles in radians (3, N).

function FromMatrix¶

Euler angle representation from rotation matrix.

std::pair< EulerAngles, BooleanArray > inertialsim::geometry::euler_angles::FromMatrix (
    const RotationMatrixArray & matrix,
    const std::string & sequence,
    bool passive=false
)

Parameters:

matrix Vector of rotation matrices.
sequence Three-character string defining the axis sequence.
passive Interpret the rotation as passive.

Returns:

A pair containing: * euler: Euler angles in radians (3, N). * gimbal_lock: Array of booleans indicating gimbal lock condition for each rotation.

function FromQuaternion¶

Euler angle representation from quaternion.

EulerAngles inertialsim::geometry::euler_angles::FromQuaternion (
    const Quaternion & quaternion,
    const std::string & sequence
)

Parameters:

quaternion Quaternion(s) (4, N), with scalar part first.
sequence Three-character string defining the axis sequence.

Returns:

Euler angles in radians (3, N).

function Validate¶

Validates inputs meet Euler angle conventions.

EulerAngles inertialsim::geometry::euler_angles::Validate (
    const EulerAngles & angles,
    const std::string & sequence
)

Parameters:

angles Euler angles in radians (3, N).
sequence Three-character string defining the axis sequence.

Returns:

The input angles modified to conform to InertialSim conventions.

function ValidateSequence¶

Validates a string representing the sequence of Euler angles.

void inertialsim::geometry::euler_angles::ValidateSequence (
    const std::string & sequence
)

Parameters:

sequence Sequence string containing X, Y, or Z.

The documentation for this class was generated from the following file cpp/include/inertialsim/geometry/rotation_conversions/euler_angles.h