Kindr
Kinematics and Dynamics for Robotics
kindr::RotationConversion< OtherRotation_, OtherVelocity_, PrimType_ > Class Template Reference

#include <RotationConversion.hpp>

Static Public Member Functions

static void convertToOtherRotation (OtherRotation_ &otherRotation, const kindr::RotationQuaternion< PrimType_ > &quaternionIn)
 
static void convertToKindr (kindr::RotationQuaternion< PrimType_ > &quaternion, const OtherRotation_ &otherRotation)
 
static void convertToOtherVelocityVector (OtherVelocity_ &otherVelocity, const OtherRotation_ &rotation, const Eigen::Matrix< PrimType_, 3, 1 > &velocityIn)
 
static void getRotationMatrixFromRotation (Eigen::Matrix< PrimType_, 3, 3 > &rotationMatrix, const OtherRotation_ &rotation)
 
static void concatenate (OtherRotation_ &result, const OtherRotation_ &rot1, OtherRotation_ &rot2)
 
static void rotateVector (Eigen::Matrix< PrimType_, 3, 1 > &A_r, const OtherRotation_ &rotationBToA, const Eigen::Matrix< PrimType_, 3, 1 > &B_r)
 
static void boxPlus (OtherRotation_ &result, const OtherRotation_ &rotation, const OtherVelocity_ &velocity)
 
static bool testRotation (const OtherRotation_ &expected, const OtherRotation_ &actual)
 

Detailed Description

template<typename OtherRotation_, typename OtherVelocity_, typename PrimType_>
class kindr::RotationConversion< OtherRotation_, OtherVelocity_, PrimType_ >

Implement the conversions from the kindr convention to the other convention. Specialize the conversion traits

Definition at line 46 of file RotationConversion.hpp.

Member Function Documentation

◆ boxPlus()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static void kindr::RotationConversion< OtherRotation_, OtherVelocity_, PrimType_ >::boxPlus ( OtherRotation_ &  result,
const OtherRotation_ &  rotation,
const OtherVelocity_ &  velocity 
)
inlinestatic

Definition at line 76 of file RotationConversion.hpp.

◆ concatenate()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static void kindr::RotationConversion< OtherRotation_, OtherVelocity_, PrimType_ >::concatenate ( OtherRotation_ &  result,
const OtherRotation_ &  rot1,
OtherRotation_ &  rot2 
)
inlinestatic

Definition at line 67 of file RotationConversion.hpp.

◆ convertToKindr()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static void kindr::RotationConversion< OtherRotation_, OtherVelocity_, PrimType_ >::convertToKindr ( kindr::RotationQuaternion< PrimType_ > &  quaternion,
const OtherRotation_ &  otherRotation 
)
inlinestatic

Definition at line 53 of file RotationConversion.hpp.

◆ convertToOtherRotation()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static void kindr::RotationConversion< OtherRotation_, OtherVelocity_, PrimType_ >::convertToOtherRotation ( OtherRotation_ &  otherRotation,
const kindr::RotationQuaternion< PrimType_ > &  quaternionIn 
)
inlinestatic

Definition at line 48 of file RotationConversion.hpp.

◆ convertToOtherVelocityVector()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static void kindr::RotationConversion< OtherRotation_, OtherVelocity_, PrimType_ >::convertToOtherVelocityVector ( OtherVelocity_ &  otherVelocity,
const OtherRotation_ &  rotation,
const Eigen::Matrix< PrimType_, 3, 1 > &  velocityIn 
)
inlinestatic

Definition at line 57 of file RotationConversion.hpp.

◆ getRotationMatrixFromRotation()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static void kindr::RotationConversion< OtherRotation_, OtherVelocity_, PrimType_ >::getRotationMatrixFromRotation ( Eigen::Matrix< PrimType_, 3, 3 > &  rotationMatrix,
const OtherRotation_ &  rotation 
)
inlinestatic

Definition at line 62 of file RotationConversion.hpp.

◆ rotateVector()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static void kindr::RotationConversion< OtherRotation_, OtherVelocity_, PrimType_ >::rotateVector ( Eigen::Matrix< PrimType_, 3, 1 > &  A_r,
const OtherRotation_ &  rotationBToA,
const Eigen::Matrix< PrimType_, 3, 1 > &  B_r 
)
inlinestatic

Definition at line 71 of file RotationConversion.hpp.

◆ testRotation()

template<typename OtherRotation_ , typename OtherVelocity_ , typename PrimType_ >
static bool kindr::RotationConversion< OtherRotation_, OtherVelocity_, PrimType_ >::testRotation ( const OtherRotation_ &  expected,
const OtherRotation_ &  actual 
)
inlinestatic

Definition at line 81 of file RotationConversion.hpp.


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