apollo::common::math::EulerAnglesZXY< T > Class Template Reference

Implements a class of Euler angles (actually, Tait-Bryan angles), with intrinsic sequence ZXY. More...

#include <euler_angles_zxy.h>

Collaboration diagram for apollo::common::math::EulerAnglesZXY< T >:

Public Member Functions
	EulerAnglesZXY ()
	Constructs an identity rotation. More...
	EulerAnglesZXY (T yaw)
	Constructs a rotation using only yaw (i.e., around the z-axis). More...
	EulerAnglesZXY (T roll, T pitch, T yaw)
	Constructs a rotation using arbitrary roll, pitch, and yaw. More...
	EulerAnglesZXY (T qw, T qx, T qy, T qz)
	Constructs a rotation using components of a quaternion. More...
	EulerAnglesZXY (const Eigen::Quaternion< T > &q)
	Constructs a rotation from quaternion. More...
T	roll () const
	Getter for roll_. More...
T	pitch () const
	Getter for pitch_. More...
T	yaw () const
	Getter for yaw_. More...
void	Normalize ()
	Normalizes roll_, pitch_, and yaw_ to [-PI, PI). More...
bool	IsValid ()
	Verifies the validity of the specified rotation. More...
Eigen::Quaternion< T >	ToQuaternion () const
	Converts to a quaternion with a non-negative scalar part. More...

Detailed Description

template<typename T>
class apollo::common::math::EulerAnglesZXY< T >

Implements a class of Euler angles (actually, Tait-Bryan angles), with intrinsic sequence ZXY.

Any orientation of a rigid body on a 3-D space can be achieved by composing three rotations about the axes of an orthogonal coordinate system. These rotations are said to be extrinsic if the axes are assumed to be motionless, and intrinsic otherwise. Here, we use an intrinsic referential, which is relative to the car's orientation. Our vehicle reference frame follows NovAtel's convention: Right/Forward/Up (RFU) respectively for the axes x/y/z. In particular, we describe the orientation of the car by three angles: 1) the pitch, in (-pi/2, pi/2), corresponds to a rotation around the x-axis; 2) the roll, in [-pi, pi), corresponds to a rotation around the y-axis; 3) the yaw, in [-pi, pi), corresponds to a rotation around the z-axis. The pitch is zero when the car is level and positive when the nose is up. The roll is zero when the car is level and positive when the left part is up. The yaw is zero when the car is facing North, and positive when facing West. In turn, in the world frame, the x/y/z axes point to East/North/Up (ENU). These angles represent the rotation from the world to the vehicle frames.

Parameters

T	Number type: double or float

Constructor & Destructor Documentation

EulerAnglesZXY() [1/5]

template<typename T>

apollo::common::math::EulerAnglesZXY< T >::EulerAnglesZXY ( )

inline

Constructs an identity rotation.

EulerAnglesZXY() [2/5]

template<typename T>

apollo::common::math::EulerAnglesZXY< T >::EulerAnglesZXY ( T  yaw )

inlineexplicit

Constructs a rotation using only yaw (i.e., around the z-axis).

Parameters

yaw	The yaw of the car

EulerAnglesZXY() [3/5]

template<typename T>

apollo::common::math::EulerAnglesZXY< T >::EulerAnglesZXY ( T  roll, T  pitch, T  yaw  )

inline

Constructs a rotation using arbitrary roll, pitch, and yaw.

Parameters

roll	The roll of the car
pitch	The pitch of the car
yaw	The yaw of the car

EulerAnglesZXY() [4/5]

template<typename T>

apollo::common::math::EulerAnglesZXY< T >::EulerAnglesZXY ( T  qw, T  qx, T  qy, T  qz  )

inline

Constructs a rotation using components of a quaternion.

Parameters

qw	Quaternion w-coordinate
qx	Quaternion x-coordinate
qy	Quaternion y-coordinate
qz	Quaternion z-coordinate

EulerAnglesZXY() [5/5]

template<typename T>

apollo::common::math::EulerAnglesZXY< T >::EulerAnglesZXY ( const Eigen::Quaternion< T > &  q )

inlineexplicit

Constructs a rotation from quaternion.

Parameters

q	Quaternion

Member Function Documentation

IsValid()

template<typename T>

bool apollo::common::math::EulerAnglesZXY< T >::IsValid ( )

inline

Verifies the validity of the specified rotation.

Returns

True iff -PI/2 < pitch < PI/2

Normalize()

template<typename T>

void apollo::common::math::EulerAnglesZXY< T >::Normalize ( )

inline

Normalizes roll_, pitch_, and yaw_ to [-PI, PI).

pitch()

template<typename T>

T apollo::common::math::EulerAnglesZXY< T >::pitch ( ) const

inline

Getter for pitch_.

Returns

The pitch of the car

roll()

template<typename T>

T apollo::common::math::EulerAnglesZXY< T >::roll ( ) const

inline

Getter for roll_.

Returns

The roll of the car

ToQuaternion()

template<typename T>

Eigen::Quaternion<T> apollo::common::math::EulerAnglesZXY< T >::ToQuaternion ( ) const

inline

Converts to a quaternion with a non-negative scalar part.

Returns

Quaternion encoding this rotation.

yaw()

template<typename T>

T apollo::common::math::EulerAnglesZXY< T >::yaw ( ) const

inline

Getter for yaw_.

Returns

The yaw of the car

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

• modules/common/math/euler_angles_zxy.h