MipBaselib::Roto3DArma Class Reference

#include <R3Arma.h>

List of all members.

Public Member Functions
	Roto3DArma (CanonicalArmaMatrix init=ZERO_ARMA_MATRIX)
	Default constructor.
	Roto3DArma (const Decimal &a11, const Decimal &a12, const Decimal &a13, const Decimal &a21, const Decimal &a22, const Decimal &a23, const Decimal &a31, const Decimal &a32, const Decimal &a33)
	Complete constructor.
	Roto3DArma (const Decimal &roll, const Decimal &pitch, const Decimal &yaw)
	Constructor with roll pitch yaw.
	Roto3DArma (const Angle &ro, const Angle &pit, const Angle &ya)
	Constructor with roll pitch yaw.
	Roto3DArma (const Roto3DArma &A)
	Copy constructor.
	Roto3DArma (const vector< Decimal > &vec)
	Constructor with a vector.
	Roto3DArma (const arma::Mat< Decimal >::fixed< 3, 3 > &rhs)
	Complete constructor.
	Roto3DArma (const Orientation3D &ori)
	Complete constructor.
Roto3DArma &	operator= (const Roto3DArma &rhs)
	Assignment operator.
Roto3DArma &	operator= (const arma::Mat< Decimal >::fixed< 3, 3 > &rhs)
	Assignment operator.
Roto3DArma &	operator+= (const Roto3DArma &pos)
	Compound assignment operator product by a another Position3DArma pos +=.
Roto3DArma	operator+ (Roto3DArma &other) const
	Binary arithmetic operator element-wise Position3DArma.
Roto3DArma	operator- (Roto3DArma &other) const
	Binary arithmetic operator element-wise Position3DArma.
Roto3DArma &	operator-= (const Roto3DArma &pos)
	Compound assignment operator product by a another Position3DArma pos -=.
Roto3DArma &	operator*= (const Roto3DArma &pos)
	Compound assignment operator product by a another Position3DArma pos *=.
Roto3DArma &	operator*= (const Decimal &scalar)
	Compound assignment operator product by a scalar *.
Roto3DArma	operator* (Roto3DArma &other) const
	Binary arithmetic operator element-wise scalar.
Roto3DArma &	operator/= (const Roto3DArma &pos)
	Compound assignment operator product by a another Position3DArma pos *=.
Roto3DArma &	operator/= (const Decimal &scalar)
	Compound assignment operator product by a scalar *.
Roto3DArma	operator/ (Roto3DArma &other) const
	Binary arithmetic operator element-wise scalar.
string	print ()
	Print.
arma::Row< Decimal >::fixed< 3 >	getFirstRow () const
	Return the first row of the matrix.
arma::Row< Decimal >::fixed< 3 >	getSecondRow () const
	Return the second row of the matrix.
arma::Row< Decimal >::fixed< 3 >	getThirdRow () const
	Return the third row of the matrix.
arma::Col< Decimal >::fixed< 3 >	getFirstCol () const
	Return the first column of the matrix.
arma::Col< Decimal >::fixed< 3 >	getSecondCol () const
	Return the second column of the matrix.
arma::Col< Decimal >::fixed< 3 >	getThirdCol () const
	Return the third column of the matrix.
Roto3DArma	invMatrix ()
	Return the inverse matrix using armadillo libraries.
arma::Mat< Decimal >	subMat (int r, int c, int R, int C)
	Return the submatrix specified by the input values.
Decimal	getElem (int r, int c) const
	Return the element in position [r,c] starting from [0,0].
void	setElem (int r, int c, const Decimal &item)
	Set the element in position [r,c] starting from [0,0].
arma::Mat< Decimal >::fixed< 3, 3 > *	getMat ()
	Pointer to armadillo matrix.
Decimal	getRoll () const
	Get the actual roll angle.
Angle	getRollAngle () const
	Get the actual roll angle.
Decimal	getPitch () const
	Get the actual pitch angle.
Angle	getPitchAngle () const
	Get the actual pitch angle.
Decimal	getYaw () const
	Get the actual yaw angle.
Angle	getYawAngle () const
	Get the actual yaw angle.
void	setYaw (const Angle &ya)
	Set yaw and update matrix only components where yaw is needed.
void	setYaw (const Decimal &ya)
	Set yaw and update matrix only components where yaw is needed.
void	setRoll (const Angle &ro)
	Set roll and update matrix only components where roll is needed.
void	setRoll (const Decimal &ro)
	Set roll and update matrix only components where roll is needed.
void	setPitch (const Angle &pit)
	Set pitch and update matrix only components where pitch is needed.
void	setPitch (const Decimal &pit)
	Set pitch and update matrix only components where pitch is needed.

---

Constructor & Destructor Documentation

Roto3DArma::Roto3DArma

(

CanonicalArmaMatrix

init = ZERO_ARMA_MATRIX

)

Default constructor.

Roto3DArma::Roto3DArma	(	const Decimal &	a11,
		const Decimal &	a12,
		const Decimal &	a13,
		const Decimal &	a21,
		const Decimal &	a22,
		const Decimal &	a23,
		const Decimal &	a31,
		const Decimal &	a32,
		const Decimal &	a33
	)

Complete constructor.

Roto3DArma::Roto3DArma	(	const Decimal &	roll,
		const Decimal &	pitch,
		const Decimal &	yaw
	)

Constructor with roll pitch yaw.

Roto3DArma::Roto3DArma	(	const Angle &	ro,
		const Angle &	pit,
		const Angle &	ya
	)

Constructor with roll pitch yaw.

Roto3DArma::Roto3DArma

(

const Roto3DArma &

A

)

Copy constructor.

MipBaselib::Roto3DArma::Roto3DArma

(

const vector< Decimal > &

vec

)

Constructor with a vector.

Note:

Assumption: vector has 9 elements. No checking for efficiency

Roto3DArma::Roto3DArma

(

const arma::Mat< Decimal >::fixed< 3, 3 > &

rhs

)

Complete constructor.

Roto3DArma::Roto3DArma

(

const Orientation3D &

ori

)

Complete constructor.

---

Member Function Documentation

Roto3DArma & Roto3DArma::operator=

(

const Roto3DArma &

rhs

)

Assignment operator.

Roto3DArma & Roto3DArma::operator=

(

const arma::Mat< Decimal >::fixed< 3, 3 > &

rhs

)

Assignment operator.

Roto3DArma & Roto3DArma::operator+=

(

const Roto3DArma &

pos

)

Compound assignment operator product by a another Position3DArma pos +=.

Roto3DArma Roto3DArma::operator+

(

Roto3DArma &

other

)

const

Binary arithmetic operator element-wise Position3DArma.

Roto3DArma Roto3DArma::operator-

(

Roto3DArma &

other

)

const

Binary arithmetic operator element-wise Position3DArma.

Roto3DArma & Roto3DArma::operator-=

(

const Roto3DArma &

pos

)

Compound assignment operator product by a another Position3DArma pos -=.

Roto3DArma & Roto3DArma::operator*=

(

const Roto3DArma &

pos

)

Compound assignment operator product by a another Position3DArma pos *=.

Roto3DArma & Roto3DArma::operator*=

(

const Decimal &

scalar

)

Compound assignment operator product by a scalar *.

Roto3DArma Roto3DArma::operator*

(

Roto3DArma &

other

)

const

Binary arithmetic operator element-wise scalar.

Roto3DArma & Roto3DArma::operator/=

(

const Roto3DArma &

pos

)

Compound assignment operator product by a another Position3DArma pos *=.

Roto3DArma & Roto3DArma::operator/=

(

const Decimal &

scalar

)

Compound assignment operator product by a scalar *.

Roto3DArma Roto3DArma::operator/

(

Roto3DArma &

other

)

const

Binary arithmetic operator element-wise scalar.

string Roto3DArma::print

(

)

Print.

arma::Row< Decimal >::fixed< 3 > Roto3DArma::getFirstRow

(

)

const

Return the first row of the matrix.

Returns:

First row of the matrix

arma::Row< Decimal >::fixed< 3 > Roto3DArma::getSecondRow

(

)

const

Return the second row of the matrix.

Returns:

Second row of the matrix

arma::Row< Decimal >::fixed< 3 > Roto3DArma::getThirdRow

(

)

const

Return the third row of the matrix.

Returns:

Third row of the matrix

arma::Col< Decimal >::fixed< 3 > Roto3DArma::getFirstCol

(

)

const

Return the first column of the matrix.

Returns:

First column of the matrix

arma::Col< Decimal >::fixed< 3 > Roto3DArma::getSecondCol

(

)

const

Return the second column of the matrix.

Returns:

Second column of the matrix

arma::Col< Decimal >::fixed< 3 > Roto3DArma::getThirdCol

(

)

const

Return the third column of the matrix.

Returns:

Third column of the matrix

Roto3DArma Roto3DArma::invMatrix

(

)

Return the inverse matrix using armadillo libraries.

Returns:

Inverse matrix

arma::Mat< Decimal > Roto3DArma::subMat	(	int	r,
		int	c,
		int	R,
		int	C
	)

Return the submatrix specified by the input values.

Parameters:

[in]	r	First row
[in]	R	Last row
[in]	c	First column
[in]	C	Last column

Note:

No control on the dimension and exceeding od row/column for efficiency

Decimal Roto3DArma::getElem	(	int	r,
		int	c
	)			const

Return the element in position [r,c] starting from [0,0].

Parameters:

[in]	r	Row of the element one wants to find
[in]	c	Column of the element one wants to find

Returns:

Element in position [r,c]

void Roto3DArma::setElem	(	int	r,
		int	c,
		const Decimal &	item
	)

Set the element in position [r,c] starting from [0,0].

Parameters:

[in]	r	Row of the element one wants to set
[in]	c	Column of the element one wants to set
[in]	item	Element one wants to insert in [r,c]

arma::Mat< Decimal >::fixed< 3, 3 > * Roto3DArma::getMat

(

)

Pointer to armadillo matrix.

Decimal Roto3DArma::getRoll

(

)

const

Get the actual roll angle.

Returns:

Roll angle

Angle Roto3DArma::getRollAngle

(

)

const

Get the actual roll angle.

Returns:

Roll angle

Decimal Roto3DArma::getPitch

(

)

const

Get the actual pitch angle.

Returns:

Pitch angle

Angle Roto3DArma::getPitchAngle

(

)

const

Get the actual pitch angle.

Returns:

Pitch angle

Decimal Roto3DArma::getYaw

(

)

const

Get the actual yaw angle.

Returns:

Yaw angle

Angle Roto3DArma::getYawAngle

(

)

const

Get the actual yaw angle.

Returns:

Yaw angle

void Roto3DArma::setYaw

(

const Angle &

ya

)

Set yaw and update matrix only components where yaw is needed.

Parameters:

[in]

ya

Yaw angle to set

void Roto3DArma::setYaw

(

const Decimal &

ya

)

Set yaw and update matrix only components where yaw is needed.

Parameters:

[in]

ya

Yaw angle to set

void Roto3DArma::setRoll

(

const Angle &

ro

)

Set roll and update matrix only components where roll is needed.

Parameters:

[in]

ro

Roll angle to set

void Roto3DArma::setRoll

(

const Decimal &

ro

)

Set roll and update matrix only components where roll is needed.

Parameters:

[in]

ro

Roll angle to set

void Roto3DArma::setPitch

(

const Angle &

pit

)

Set pitch and update matrix only components where pitch is needed.

Parameters:

[in]

pit

Pitch angle to set

void Roto3DArma::setPitch

(

const Decimal &

pit

)

Set pitch and update matrix only components where pitch is needed.

Parameters:

[in]

pit

Pitch angle to set

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

• baselib/Spaces/R3Arma.h
• baselib/Spaces/R3Arma.cpp