geometry.hpp File Reference

#include <Eigen/Geometry>

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Functions
Eigen::Quaterniond	cloe::utility::quaternion_from_rpy (double roll, double pitch, double yaw)
Eigen::Isometry3d	cloe::utility::pose_from_rotation_translation (const Eigen::Quaterniond &quaternion, const Eigen::Vector3d &trans)
Eigen::Vector3d	cloe::utility::get_pose_roll_pitch_yaw (const Eigen::Isometry3d &pose)
void	cloe::utility::transform_point_to_child_frame (const Eigen::Isometry3d &child_frame, Eigen::Vector3d *pt_vec)
void	cloe::utility::transform_point_to_parent_frame (const Eigen::Isometry3d &child_frame, Eigen::Vector3d *pt_vec_child)

Function Documentation

get_pose_roll_pitch_yaw()

Eigen::Vector3d cloe::utility::get_pose_roll_pitch_yaw ( const Eigen::Isometry3d &  pose )

inline

Compute the roll, pitch and yaw angles from a given pose.

Parameters

pose	Pose of which the rotation matrix shall be expressed in Euler angles.

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pose_from_rotation_translation()

Eigen::Isometry3d cloe::utility::pose_from_rotation_translation ( const Eigen::Quaterniond &  quaternion, const Eigen::Vector3d &  trans  )

inline

PoseFromRotationTranslation calculates the pose from rotation and translation.

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quaternion_from_rpy()

Eigen::Quaterniond cloe::utility::quaternion_from_rpy ( double  roll, double  pitch, double  yaw  )

inline

QuaternionFromRPY calculates a quaternion from roll, pitch and yaw.

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transform_point_to_child_frame()

void cloe::utility::transform_point_to_child_frame ( const Eigen::Isometry3d &  child_frame, Eigen::Vector3d *  pt_vec  )

inline

Change a point's frame of reference from the parent frame to the child frame.

Parameters

child_frame	Pose of the child reference frame w.r.t. the parent frame.
pt_vec	Point coordinate vector w.r.t. the parent frame.

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transform_point_to_parent_frame()

void cloe::utility::transform_point_to_parent_frame ( const Eigen::Isometry3d &  child_frame, Eigen::Vector3d *  pt_vec_child  )

inline

Change a point's frame of reference from the child frame to the parent frame.

Parameters

child_frame	Pose of the child reference frame w.r.t. the parent frame.
pt_vec_child	Point coordinate vector w.r.t. the child frame.

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