#include <Rotation.h>

Inheritance diagram for biorbd::utils::Rotation:

Public Member Functions
	Rotation (const RigidBodyDynamics::Math::Matrix3d &matrix=RigidBodyDynamics::Math::Matrix3d::Identity())
	Construct Rotation matrix. More...

	Rotation (const biorbd::utils::Scalar &v00, const biorbd::utils::Scalar &v01, const biorbd::utils::Scalar &v02, const biorbd::utils::Scalar &v10, const biorbd::utils::Scalar &v11, const biorbd::utils::Scalar &v12, const biorbd::utils::Scalar &v20, const biorbd::utils::Scalar &v21, const biorbd::utils::Scalar &v22)
	Rotation Construct a Rotation matrix by elements. More...

	Rotation (const biorbd::utils::Vector &rotation, const biorbd::utils::String &rotationSequence)
	Contruct a Rotation matrix. More...

	Rotation (const RigidBodyDynamics::Math::SpatialTransform &st)
	Contruct Rototrans. More...

biorbd::utils::Vector3d	axe (unsigned int idx) const
	Get a particular axis of the Rotation matrix. More...

Static Public Member Functions
static biorbd::utils::Rotation	fromSpatialTransform (const RigidBodyDynamics::Math::SpatialTransform &st)
	set the Rotation from a spatial transform More...

static biorbd::utils::Rotation	fromEulerAngles (const biorbd::utils::Vector &rot, const biorbd::utils::String &seq)
	Create a Rotation from Euler angles. More...

static biorbd::utils::Matrix	fromMarkersNonNormalized (const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &axis1markers, const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &axis2markers, const std::pair< biorbd::utils::String, biorbd::utils::String > &axesNames, const biorbd::utils::String &axisToRecalculate)
	fromMarkers Creates a system of axes from two axes defined by markers More...

static biorbd::utils::Rotation	fromMarkers (const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &axis1markers, const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &axis2markers, const std::pair< biorbd::utils::String, biorbd::utils::String > &axesNames, const biorbd::utils::String &axisToRecalculate)
	fromMarkers Creates a system of axes from two axes defined by markers More...

static biorbd::utils::Vector	toEulerAngles (const biorbd::utils::Rotation &r, const biorbd::utils::String &seq)
	Return extracted angles from the rotation matrix into Euler angles using the provided sequence. More...

static biorbd::utils::Rotation	mean (const std::vector< biorbd::utils::Rotation > &mToMean)
	Get the mean of the Rotation matrices. More...

Protected Member Functions
void	checkUnitary ()
	Check if the Rotation is a unitary matrix of rotation. More...

Detailed Description

Rotation matrix.

Definition at line 32 of file Rotation.h.

Constructor & Destructor Documentation

◆ Rotation() [1/4]

biorbd::utils::Rotation::Rotation ( const RigidBodyDynamics::Math::Matrix3d & matrix = RigidBodyDynamics::Math::Matrix3d::Identity() )

Construct Rotation matrix.

Parameters

matrix 3D identity matrix

Definition at line 12 of file Rotation.cpp.

◆ Rotation() [2/4]

biorbd::utils::Rotation::Rotation	(	const biorbd::utils::Scalar &	v00,
		const biorbd::utils::Scalar &	v01,
		const biorbd::utils::Scalar &	v02,
		const biorbd::utils::Scalar &	v10,
		const biorbd::utils::Scalar &	v11,
		const biorbd::utils::Scalar &	v12,
		const biorbd::utils::Scalar &	v20,
		const biorbd::utils::Scalar &	v21,
		const biorbd::utils::Scalar &	v22
	)

Rotation Construct a Rotation matrix by elements.

Parameters

v00	Row 0, Col 0
v01	Row 0, Col 1
v02	Row 0, Col 2
v10	Row 1, Col 0
v11	Row 1, Col 1
v12	Row 1, Col 2
v20	Row 2, Col 0
v21	Row 2, Col 1
v22	Row 2, Col 2

Definition at line 30 of file Rotation.cpp.

◆ Rotation() [3/4]

biorbd::utils::Rotation::Rotation	(	const biorbd::utils::Vector &	rotation,
		const biorbd::utils::String &	rotationSequence
	)

Contruct a Rotation matrix.

Parameters

rotation	The Euler angles vector
rotationSequence	The rotation sequence

The number of rotation must match the number of axes in the rotation sequence

Definition at line 39 of file Rotation.cpp.

◆ Rotation() [4/4]

biorbd::utils::Rotation::Rotation ( const RigidBodyDynamics::Math::SpatialTransform & st )

Contruct Rototrans.

Parameters

st	Spatial Transform vector

Definition at line 47 of file Rotation.cpp.

Member Function Documentation

◆ axe()

biorbd::utils::Vector3d biorbd::utils::Rotation::axe ( unsigned int idx ) const

Get a particular axis of the Rotation matrix.

Parameters

idx	The index of axis (x = 0, y = 1 and z = 2)

Returns: The axis

Definition at line 54 of file Rotation.cpp.

◆ checkUnitary()

void biorbd::utils::Rotation::checkUnitary ( )

protected

Check if the Rotation is a unitary matrix of rotation.

That function throws a runtime_error if the check fails

Definition at line 316 of file Rotation.cpp.

◆ fromEulerAngles()

biorbd::utils::Rotation biorbd::utils::Rotation::fromEulerAngles	(	const biorbd::utils::Vector &	rot,
		const biorbd::utils::String &	seq
	)

static

Create a Rotation from Euler angles.

Parameters

rot	The Euler angles vector
seq	The rotation sequence

The number of rotation must match the number of axes in the rotation sequence

Definition at line 66 of file Rotation.cpp.

◆ fromMarkers()

biorbd::utils::Rotation biorbd::utils::Rotation::fromMarkers	(	const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &	axis1markers,
		const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &	axis2markers,
		const std::pair< biorbd::utils::String, biorbd::utils::String > &	axesNames,
		const biorbd::utils::String &	axisToRecalculate
	)

static

fromMarkers Creates a system of axes from two axes defined by markers

Parameters

axis1markers	The beginning and ending of the vector of the first axis
axis2markers	The beginning and ending of the vector of the second axis
axesNames	The names ("x", "y" or "z") of the axes
axisToRecalculate	The axis to recalculate to ensure orthonormal system of axes

Returns: The system of axes

Definition at line 179 of file Rotation.cpp.

◆ fromMarkersNonNormalized()

biorbd::utils::Matrix biorbd::utils::Rotation::fromMarkersNonNormalized	(	const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &	axis1markers,
		const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &	axis2markers,
		const std::pair< biorbd::utils::String, biorbd::utils::String > &	axesNames,
		const biorbd::utils::String &	axisToRecalculate
	)

static

fromMarkers Creates a system of axes from two axes defined by markers

Parameters

axis1markers	The beginning and ending of the vector of the first axis
axis2markers	The beginning and ending of the vector of the second axis
axesNames	The names ("x", "y" or "z") of the axes
axisToRecalculate	The axis to recalculate to ensure orthonormal system of axes

Returns: The system of axes

Definition at line 104 of file Rotation.cpp.

◆ fromSpatialTransform()

biorbd::utils::Rotation biorbd::utils::Rotation::fromSpatialTransform ( const RigidBodyDynamics::Math::SpatialTransform & st )

static

set the Rotation from a spatial transform

Parameters

st	The spatial transform

Returns: The matrix of Rotation

Definition at line 60 of file Rotation.cpp.

◆ mean()

biorbd::utils::Rotation biorbd::utils::Rotation::mean ( const std::vector< biorbd::utils::Rotation > & mToMean )

static

Get the mean of the Rotation matrices.

Parameters

mToMean The Rotation matrices to mean

Returns: The mean Rotation matrix

Definition at line 293 of file Rotation.cpp.

◆ toEulerAngles()

biorbd::utils::Vector biorbd::utils::Rotation::toEulerAngles	(	const biorbd::utils::Rotation &	r,
		const biorbd::utils::String &	seq
	)

static

Return extracted angles from the rotation matrix into Euler angles using the provided sequence.

Parameters

r	The Rotation matrix to extract angles from
seq	The angle sequence

Returns: The angles (the length of the vector will match the length of sequence)

The rotation sequence can be any combination of x, y and z

Definition at line 197 of file Rotation.cpp.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Rotation() [1/4]

◆ Rotation() [2/4]

◆ Rotation() [3/4]

◆ Rotation() [4/4]

Member Function Documentation

◆ axe()

◆ checkUnitary()

◆ fromEulerAngles()

◆ fromMarkers()

◆ fromMarkersNonNormalized()

◆ fromSpatialTransform()

◆ mean()

◆ toEulerAngles()