apollo::common::math::EulerAnglesZXY< T > 模板类 参考

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. 更多...

#include <euler_angles_zxy.h>

apollo::common::math::EulerAnglesZXY< T > 的协作图:

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

详细描述

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

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.

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

参数

T	Number type: double or float

在文件 euler_angles_zxy.h 第 66 行定义.

构造及析构函数说明

EulerAnglesZXY() [1/5]

template<typename T >

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

inline

Constructs an identity rotation.

在文件 euler_angles_zxy.h 第 71 行定义.

: roll_(0), pitch_(0), yaw_(0) {}

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).

参数

yaw	The yaw of the car

在文件 euler_angles_zxy.h 第 78 行定义.

: roll_(0), pitch_(0), yaw_(yaw) {}

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.

参数

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

在文件 euler_angles_zxy.h 第 87 行定义.

      : roll_(roll), pitch_(pitch), yaw_(yaw) {}

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.

参数

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

在文件 euler_angles_zxy.h 第 98 行定义.

      : roll_(std::atan2(static_cast<T>(2.0) * (qw * qy - qx * qz),
                         static_cast<T>(2.0) * (Square<T>(qw) + Square<T>(qz)) -
                             static_cast<T>(1.0))),
        pitch_(std::asin(static_cast<T>(2.0) * (qw * qx + qy * qz))),
        yaw_(std::atan2(static_cast<T>(2.0) * (qw * qz - qx * qy),
                        static_cast<T>(2.0) * (Square<T>(qw) + Square<T>(qy)) -
                            static_cast<T>(1.0))) {}

EulerAnglesZXY() [5/5]

template<typename T >

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

inlineexplicit

Constructs a rotation from quaternion.

参数

q	Quaternion

在文件 euler_angles_zxy.h 第 111 行定义.

      : EulerAnglesZXY(q.w(), q.x(), q.y(), q.z()) {}

成员函数说明

IsValid()

template<typename T >

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

inline

Verifies the validity of the specified rotation.

返回

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

在文件 euler_angles_zxy.h 第 145 行定义.

                 {
    Normalize();
    return pitch_ < M_PI_2 && pitch_ > -M_PI_2;
  }

Normalize()

template<typename T >

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

inline

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

在文件 euler_angles_zxy.h 第 135 行定义.

                   {
    roll_ = NormalizeAngle(roll_);
    pitch_ = NormalizeAngle(pitch_);
    yaw_ = NormalizeAngle(yaw_);
  }

pitch()

template<typename T >

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

inline

Getter for pitch_

返回

The pitch of the car

在文件 euler_angles_zxy.h 第 124 行定义.

{ return pitch_; }

roll()

template<typename T >

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

inline

Getter for roll_

返回

The roll of the car

在文件 euler_angles_zxy.h 第 118 行定义.

{ return roll_; }

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

返回

Quaternion encoding this rotation.

在文件 euler_angles_zxy.h 第 154 行定义.

                                          {
    T coeff = static_cast<T>(0.5);
    T r = roll_ * coeff;
    T p = pitch_ * coeff;
    T y = yaw_ * coeff;
 
    T sr = std::sin(r);
    T sp = std::sin(p);
    T sy = std::sin(y);
 
    T cr = std::cos(r);
    T cp = std::cos(p);
    T cy = std::cos(y);
 
    T qw = cr * cp * cy - sr * sp * sy;
    T qx = cr * sp * cy - sr * cp * sy;
    T qy = cr * sp * sy + sr * cp * cy;
    T qz = cr * cp * sy + sr * sp * cy;
    if (qw < 0.0) {
      return {-qw, -qx, -qy, -qz};
    }
    return {qw, qx, qy, qz};
  }

yaw()

template<typename T >

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

inline

Getter for yaw_

返回

The yaw of the car

在文件 euler_angles_zxy.h 第 130 行定义.

{ return yaw_; }

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该类的文档由以下文件生成:

• modules/common/math/euler_angles_zxy.h