Orientation3D Class Reference
[Spaces]

Represents the triple roll, pitch, yaw. More...

#include <S3.h>

List of all members.

Public Member Functions
	Orientation3D ()
	Orientation3D (Angle roll_in, Angle pitch_in, Angle yaw_in)
	Orientation3D (Position3D vQuat, Decimal sQuat)
	Orientation3D (const Orientation3D &p)
Orientation3D &	operator= (const Orientation3D &rhs)
Orientation3D &	operator+= (const Orientation3D &a)
Orientation3D &	operator-= (const Orientation3D &a)
Orientation3D &	operator*= (const Decimal scalar)
Orientation3D &	operator/= (const Decimal scalar)
Orientation3D	operator+ (const Orientation3D &other) const
Orientation3D	operator- (const Orientation3D &other) const
Orientation3D	operator* (const Decimal scalar) const
	binary arithmetic operator product by a scalar
Orientation3D	operator/ (const Decimal scalar) const
	binary arithmetic operator division by a scalar
bool	operator== (const Orientation3D &other) const
bool	operator!= (const Orientation3D &other) const
Orientation3D	minimum (const Orientation3D &p) const
	minimum with another Orientation
Orientation3D	maximum (const Orientation3D &p) const
	maximum with another position
Angle	roll () const
Angle	pitch () const
Angle	yaw () const
void	unitQuat (Position3D &vQuat, Decimal &sQuat) const
	Gets the quaternion.
void	setRoll (const Angle &roll)
	Sets the coordinate x.
void	setPitch (const Angle &pitch)
	Sets the coordinate y.
void	setYaw (const Angle &yaw)
	Sets the coordinate z.
vector< Decimal >	vectPi () const
	Vector conversion rad from -PI to PI.
vector< Decimal >	vectDeg180 () const
	Vector conversion deg from -180 to 180.
vector< Decimal >	vect2Pi () const
	Vector conversion rad from 0 to 2PI.
vector< Decimal >	vectDeg360 () const
	Vector conversion deg from 0 to 360.
string	print (PrintTypes type=PRINT_TYPE_WITH_UNITS) const
string	toString () const
	Orientation3D ()
	Orientation3D (Position3D quatVectPart, Decimal quatScalarPart)
	Orientation3D (Position3D axis, Angle angle)
Orientation3D &	operator*= (const Orientation3D &a)
const Orientation3D	operator* (const Orientation3D &other) const
	Binary arithmetic operator *.
	Orientation3D (Angle roll_in, Angle pitch_in, Angle yaw_in)
	Orientation3D (const Orientation3D &p)
Orientation3D &	operator= (const Orientation3D &rhs)
Orientation3D &	operator+= (const Orientation3D &a)
Orientation3D &	operator-= (const Orientation3D &a)
Orientation3D &	operator*= (const Decimal scalar)
Orientation3D &	operator/= (const Decimal scalar)
const Orientation3D	operator+ (const Orientation3D &other) const
const Orientation3D	operator- (const Orientation3D &other) const
const Orientation3D	operator* (const Decimal scalar)
	binary arithmetic operator product by a scalar
const Orientation3D	operator/ (const Decimal scalar)
	binary arithmetic operator division by a scalar
bool	operator== (const Orientation3D &other) const
bool	operator!= (const Orientation3D &other) const
Orientation3D	minimum (const Orientation3D &p)
	minimum with another Orientation
Orientation3D	maximum (const Orientation3D &p)
	maximum with another position
Angle	roll ()
Angle	pitch ()
Angle	yaw ()
void	setRoll (Angle roll)
	Sets the coordinate x.
void	setPitch (Angle pitch)
	Sets the coordinate y.
void	setYaw (Angle yaw)
	Sets the coordinate z.
vector< Decimal >	vectPi ()
	Vector conversion rad from -PI to PI.
vector< Decimal >	vectDeg180 ()
	Vector conversion deg from -180 to 180.
vector< Decimal >	vect2Pi ()
	Vector conversion rad from 0 to 2PI.
vector< Decimal >	vectDeg360 ()
	Vector conversion deg from 0 to 360.
string	print (PrintTypes type=PRINT_TYPE_WITH_UNITS)
Protected Member Functions
bool	_normalize ()
Protected Attributes
Angle	_roll
Angle	_pitch
Angle	_yaw
Decimal	_q [4]

---

Detailed Description

Represents the triple roll, pitch, yaw.

Author:

Paolo Stegagno

Antonio Franchi and Paolo Stegagno

---

Constructor & Destructor Documentation

Orientation3D::Orientation3D

(

)

[inline]

default constructor

Orientation3D::Orientation3D	(	Angle	roll_in,
		Angle	pitch_in,
		Angle	yaw_in
	)			[inline]

x y constructor

Orientation3D::Orientation3D	(	Position3D	vQuat,
		Decimal	sQuat
	)

Orientation3D::Orientation3D

(

const Orientation3D &

p

)

[inline]

copy constructor

Orientation3D::Orientation3D

(

)

default constructor

Orientation3D::Orientation3D	(	Position3D	quatVectPart,
		Decimal	quatScalarPart
	)

quaternion constructor

Orientation3D::Orientation3D	(	Position3D	axis,
		Angle	angle
	)

axis-angle constructor

Orientation3D::Orientation3D	(	Angle	roll_in,
		Angle	pitch_in,
		Angle	yaw_in
	)

roll pitch yaw constructor

Orientation3D::Orientation3D

(

const Orientation3D &

p

)

[inline]

copy constructor

---

Member Function Documentation

Orientation3D& Orientation3D::operator=

(

const Orientation3D &

rhs

)

[inline]

assigment operator =

Orientation3D& Orientation3D::operator+=

(

const Orientation3D &

a

)

[inline]

compound assignment operator +=

Orientation3D& Orientation3D::operator-=

(

const Orientation3D &

a

)

[inline]

compound assignment operator -=

Orientation3D& Orientation3D::operator*=

(

const Decimal

scalar

)

[inline]

compound assignment operator product by a scalar -*

Orientation3D& Orientation3D::operator/=

(

const Decimal

scalar

)

[inline]

compound assignment operator division by a scalar -/

Orientation3D Orientation3D::operator+

(

const Orientation3D &

other

)

const [inline]

binary arithmetic operator +

Orientation3D Orientation3D::operator-

(

const Orientation3D &

other

)

const [inline]

binary arithmetic operator -

Orientation3D Orientation3D::operator*

(

const Decimal

scalar

)

const [inline]

binary arithmetic operator product by a scalar

Note:

the scalar must be on the right side of the product

Orientation3D Orientation3D::operator/

(

const Decimal

scalar

)

const [inline]

binary arithmetic operator division by a scalar

Note:

the scalar must be on the right side of the product

bool Orientation3D::operator==

(

const Orientation3D &

other

)

const [inline]

compound operator ==

bool Orientation3D::operator!=

(

const Orientation3D &

other

)

const [inline]

compound operator !=

Orientation3D Orientation3D::minimum

(

const Orientation3D &

p

)

const [inline]

minimum with another Orientation

Orientation3D Orientation3D::maximum

(

const Orientation3D &

p

)

const [inline]

maximum with another position

Angle Orientation3D::roll

(

)

const [inline]

coordinates

Angle Orientation3D::pitch

(

)

const [inline]

Angle Orientation3D::yaw

(

)

const [inline]

void Orientation3D::unitQuat	(	Position3D &	vQuat,
		Decimal &	sQuat
	)			const

Gets the quaternion.

void Orientation3D::setRoll

(

const Angle &

roll

)

[inline]

Sets the coordinate x.

void Orientation3D::setPitch

(

const Angle &

pitch

)

[inline]

Sets the coordinate y.

void Orientation3D::setYaw

(

const Angle &

yaw

)

[inline]

Sets the coordinate z.

vector< Decimal > Orientation3D::vectPi

(

)

const

Vector conversion rad from -PI to PI.

vector< Decimal > Orientation3D::vectDeg180

(

)

const

Vector conversion deg from -180 to 180.

vector< Decimal > Orientation3D::vect2Pi

(

)

const

Vector conversion rad from 0 to 2PI.

vector< Decimal > Orientation3D::vectDeg360

(

)

const

Vector conversion deg from 0 to 360.

string Orientation3D::print

(

PrintTypes

type = PRINT_TYPE_WITH_UNITS

)

const [inline]

print

string Orientation3D::toString

(

)

const [inline]

bool Orientation3D::_normalize

(

)

[protected]

Orientation3D& Orientation3D::operator*=

(

const Orientation3D &

a

)

composition betwen with another orientation *

const Orientation3D Orientation3D::operator*

(

const Orientation3D &

other

)

const

Binary arithmetic operator *.

Orientation3D& Orientation3D::operator=

(

const Orientation3D &

rhs

)

[inline]

assigment operator =

Orientation3D& Orientation3D::operator+=

(

const Orientation3D &

a

)

[inline]

compound assignment operator +=

Orientation3D& Orientation3D::operator-=

(

const Orientation3D &

a

)

[inline]

compound assignment operator -=

Orientation3D& Orientation3D::operator*=

(

const Decimal

scalar

)

[inline]

compound assignment operator product by a scalar -*

Orientation3D& Orientation3D::operator/=

(

const Decimal

scalar

)

[inline]

compound assignment operator division by a scalar -/

const Orientation3D Orientation3D::operator+

(

const Orientation3D &

other

)

const [inline]

binary arithmetic operator +

const Orientation3D Orientation3D::operator-

(

const Orientation3D &

other

)

const [inline]

binary arithmetic operator -

const Orientation3D Orientation3D::operator*

(

const Decimal

scalar

)

[inline]

binary arithmetic operator product by a scalar

Note:

the scalar must be on the right side of the product

const Orientation3D Orientation3D::operator/

(

const Decimal

scalar

)

[inline]

binary arithmetic operator division by a scalar

Note:

the scalar must be on the right side of the product

bool Orientation3D::operator==

(

const Orientation3D &

other

)

const [inline]

compound operator ==

bool Orientation3D::operator!=

(

const Orientation3D &

other

)

const [inline]

compound operator !=

Orientation3D Orientation3D::minimum

(

const Orientation3D &

p

)

[inline]

minimum with another Orientation

Orientation3D Orientation3D::maximum

(

const Orientation3D &

p

)

[inline]

maximum with another position

Angle Orientation3D::roll

(

)

[inline]

coordinates

Angle Orientation3D::pitch

(

)

[inline]

Angle Orientation3D::yaw

(

)

[inline]

void Orientation3D::setRoll

(

Angle

roll

)

[inline]

Sets the coordinate x.

void Orientation3D::setPitch

(

Angle

pitch

)

[inline]

Sets the coordinate y.

void Orientation3D::setYaw

(

Angle

yaw

)

[inline]

Sets the coordinate z.

vector< Decimal > Orientation3D::vectPi

(

)

Vector conversion rad from -PI to PI.

vector< Decimal > Orientation3D::vectDeg180

(

)

Vector conversion deg from -180 to 180.

vector< Decimal > Orientation3D::vect2Pi

(

)

Vector conversion rad from 0 to 2PI.

vector< Decimal > Orientation3D::vectDeg360

(

)

Vector conversion deg from 0 to 360.

string Orientation3D::print

(

PrintTypes

type = PRINT_TYPE_WITH_UNITS

)

[inline]

print

---

Member Data Documentation

Angle Orientation3D::_roll [protected]

Angle Orientation3D::_pitch [protected]

Angle Orientation3D::_yaw [protected]

Decimal Orientation3D::_q[4] [protected]

---

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

• baselib/Spaces/S3.h
• baselib/Spaces/S3New.h
• baselib/Spaces/S3.cpp
• baselib/Spaces/S3New.cpp