jafar::geom::T3DEuler Class Reference

A 3D transformation, the rotation is represented with Euler angles. More...

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Detailed Description

A 3D transformation, the rotation is represented with Euler angles.

The three rotations are successively applied aroud axis z, y and x.

Todo:

take care of singularities in updateX()

Definition at line 25 of file t3dEuler.hpp.

#include <t3dEuler.hpp>

Inheritance diagram for jafar::geom::T3DEuler:

List of all members.

Public Member Functions
	T3DEuler (bool hasCov_=false)
	T3DEuler (const jblas::vec &x_, bool hasCov_=false)
	T3DEuler (const jblas::vec &x_, const jblas::vec &xStdDev_)
	T3DEuler (const jblas::vec &x_, const jblas::sym_mat &xCov_)
	T3DEuler (const T3D &t_)
	T3DEuler (const jblas::mat &M_)
T3DEuler &	operator= (const T3DEuler &t_)
Type	type () const
void	setValue (double x_, double y_, double z_, double yaw_, double pitch_, double roll_)
double	translationNorm () const
void	setOdo2D (const jblas::vec &u, double dt)
	Set value of the T3D from odometry transformation [ds,dtheta].
void	setOdo2D (const jblas::vec &u, double dt, const jblas::sym_mat &uCov)
	Set value of the T3D from odometry transformation [ds,dtheta], also update uncertainty.
Protected Member Functions
void	updateM () const
	update the homogeneous matrix from x.
void	updateX ()
	update x from the homogeneous matrix.
Friends
class	T3D
class	test_T3DEuler

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Member Function Documentation

Type jafar::geom::T3DEuler::type

(

)

const [inline, virtual]

Returns:

the type of the T3D

Implements jafar::geom::T3D.

Definition at line 39 of file t3dEuler.hpp.

References jafar::geom::T3D::EULER.

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

• modules/geom/include/geom/t3dEuler.hpp