ma::maths::EulerAnglesOp

Compute euler angles. More...

Header
#include <openma/maths/unaryop.h>

Module

Public Functions#

EulerAnglesOp(const XprBase< Xpr > &x, Index a0, Index a1, Index a2)

Index
rows() const noexcept

auto
values() const noexcept-> Eigen::internal::EulerAnglesOpValues< decltype(OPENMA_MATHS_DECLVAL_NESTED(Xpr).values())>

auto
residuals() const noexcept-> decltype(OPENMA_MATHS_DECLVAL_NESTED(Xpr).residuals())

Detailed Description#

Note

This operator would be used with an array with at least 9 columns representing an orientation. It can be for example a Pose object.

Member Function Documentation#

ma::maths::EulerAnglesOp::EulerAnglesOp ( const XprBase < Xpr > & x , Index a0 , Index a1 , Index a2 ) [inline]

Constructor. The Index a0, a1, a2 reprensent the sequence order.

  • The rotation along the axis X will be given with the value 0.
  • The rotation along the axis Y will be given with the value 1.
  • The rotation along the axis Z will be given with the value 2.
    auto eao1 = EulerAnglesOp(pose,0,1,2); // Extract eurler angles using axes X, Y', and Z".
    auto eao2 = EulerAnglesOp(pose,2,0,1); // Extract eurler angles using axes Z, X', and Y".
    
auto ma::maths::EulerAnglesOp::residuals ( ) const noexcept [inline]

Returns the residuals associated with this operation. The residuals is generated based on the input one.

Index ma::maths::EulerAnglesOp::rows ( ) const noexcept [inline]

Returns the number of rows that shall have the result of this operation. Internaly, this method relies on the number of rows of the given expresion.

auto ma::maths::EulerAnglesOp::values ( ) const noexcept [inline]

Returns a template expression corresponding to the calculation of this operation.