diff options
Diffstat (limited to 'unsupported/Eigen/src/EulerAngles/EulerAngles.h')
| -rw-r--r-- | unsupported/Eigen/src/EulerAngles/EulerAngles.h | 79 |
1 files changed, 61 insertions, 18 deletions
diff --git a/unsupported/Eigen/src/EulerAngles/EulerAngles.h b/unsupported/Eigen/src/EulerAngles/EulerAngles.h index 911ba4d09..13a0da1ab 100644 --- a/unsupported/Eigen/src/EulerAngles/EulerAngles.h +++ b/unsupported/Eigen/src/EulerAngles/EulerAngles.h @@ -19,6 +19,8 @@ namespace Eigen /** \class EulerAngles * + * \ingroup EulerAngles_Module + * * \brief Represents a rotation in a 3 dimensional space as three Euler angles. * * Euler rotation is a set of three rotation of three angles over three fixed axes, defined by the EulerSystem given as a template parameter. @@ -29,7 +31,7 @@ namespace Eigen * - then, rotate the axes system over the gamma axis(which was rotated in the two stages above) in angle gamma * * \note This class support only intrinsic Euler angles for simplicity, - * see EulerSystem how to easily overcome it for extrinsic systems. + * see EulerSystem how to easily overcome this for extrinsic systems. * * ### Rotation representation and conversions ### * @@ -52,17 +54,48 @@ namespace Eigen * and this class take care for the math. * Additionally, some axes related computation is done in compile time. * + * #### Euler angles ranges in conversions #### + * + * When converting some rotation to Euler angles, there are some ways you can guarantee + * the Euler angles ranges. + * + * #### implicit ranges #### + * When using implicit ranges, all angles are guarantee to be in the range [-PI, +PI], + * unless you convert from some other Euler angles. + * In this case, the range is __undefined__ (might be even less than -PI or greater than +2*PI). + * \sa EulerAngles(const MatrixBase<Derived>&) + * \sa EulerAngles(const RotationBase<Derived, 3>&) + * + * #### explicit ranges #### + * When using explicit ranges, all angles are guarantee to be in the range you choose. + * In the range Boolean parameter, you're been ask whether you prefer the positive range or not: + * - _true_ - force the range between [0, +2*PI] + * - _false_ - force the range between [-PI, +PI] + * + * ##### compile time ranges ##### + * This is when you have compile time ranges and you prefer to + * use template parameter. (e.g. for performance) + * \sa FromRotation() + * + * ##### run-time time ranges ##### + * Run-time ranges are also supported. + * \sa EulerAngles(const MatrixBase<Derived>&, bool, bool, bool) + * \sa EulerAngles(const RotationBase<Derived, 3>&, bool, bool, bool) + * * ### Convenient user typedefs ### * * Convenient typedefs for EulerAngles exist for float and double scalar, * in a form of EulerAngles{A}{B}{C}{scalar}, - * e.g. EulerAnglesXYZd, EulerAnglesZYZf. + * e.g. \ref EulerAnglesXYZd, \ref EulerAnglesZYZf. * - * !TODO! Add examples - * - * Only for positive axes{+x,+y,+z} euler systems are have convenient typedef. + * Only for positive axes{+x,+y,+z} Euler systems are have convenient typedef. * If you need negative axes{-x,-y,-z}, it is recommended to create you own typedef with - * a word that represent what you need, e.g. EulerAnglesUTM (!TODO! make it more clear with example code). + * a word that represent what you need. + * + * ### Example ### + * + * \include EulerAngles.cpp + * Output: \verbinclude EulerAngles.out * * ### Additional reading ### * @@ -80,12 +113,14 @@ namespace Eigen public: /** the scalar type of the angles */ typedef _Scalar Scalar; + + /** the EulerSystem to use, which represents the axes of rotation. */ typedef _System System; - typedef Matrix<Scalar,3,3> Matrix3; - typedef Matrix<Scalar,3,1> Vector3; - typedef Quaternion<Scalar> QuaternionType; - typedef AngleAxis<Scalar> AngleAxisType; + typedef Matrix<Scalar,3,3> Matrix3; /*!< the equivalent rotation matrix type */ + typedef Matrix<Scalar,3,1> Vector3; /*!< the equivalent 3 dimension vector type */ + typedef Quaternion<Scalar> QuaternionType; /*!< the equivalent quaternion type */ + typedef AngleAxis<Scalar> AngleAxisType; /*!< the equivalent angle-axis type */ /** \returns the axis vector of the first (alpha) rotation */ static Vector3 AlphaAxisVector() { @@ -125,7 +160,7 @@ namespace Eigen /** Constructs and initialize Euler angles from a 3x3 rotation matrix \p m, * with options to choose for each angle the requested range. * - * If possitive range is true, then the specified angle will be in the range [0, +2*PI]. + * If positive range is true, then the specified angle will be in the range [0, +2*PI]. * Otherwise, the specified angle will be in the range [-PI, +PI]. * * \param m The 3x3 rotation matrix to convert @@ -146,7 +181,7 @@ namespace Eigen /** Constructs and initialize Euler angles from a rotation \p rot. * * \note All angles will be in the range [-PI, PI], unless \p rot is an EulerAngles. - * If rot is an EulerAngles, expected EulerAngles range is undefined. + * If rot is an EulerAngles, expected EulerAngles range is __undefined__. * (Use other functions here for enforcing range if this effect is desired) */ template<typename Derived> @@ -155,7 +190,7 @@ namespace Eigen /** Constructs and initialize Euler angles from a rotation \p rot, * with options to choose for each angle the requested range. * - * If possitive range is true, then the specified angle will be in the range [0, +2*PI]. + * If positive range is true, then the specified angle will be in the range [0, +2*PI]. * Otherwise, the specified angle will be in the range [-PI, +PI]. * * \param rot The 3x3 rotation matrix to convert @@ -214,7 +249,7 @@ namespace Eigen /** Constructs and initialize Euler angles from a 3x3 rotation matrix \p m, * with options to choose for each angle the requested range (__only in compile time__). * - * If possitive range is true, then the specified angle will be in the range [0, +2*PI]. + * If positive range is true, then the specified angle will be in the range [0, +2*PI]. * Otherwise, the specified angle will be in the range [-PI, +PI]. * * \param m The 3x3 rotation matrix to convert @@ -232,14 +267,15 @@ namespace Eigen EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3) EulerAngles e; - System::CalcEulerAngles<PositiveRangeAlpha, PositiveRangeBeta, PositiveRangeGamma>(e, m); + System::template CalcEulerAngles< + PositiveRangeAlpha, PositiveRangeBeta, PositiveRangeGamma, _Scalar>(e, m); return e; } /** Constructs and initialize Euler angles from a rotation \p rot, * with options to choose for each angle the requested range (__only in compile time__). * - * If possitive range is true, then the specified angle will be in the range [0, +2*PI]. + * If positive range is true, then the specified angle will be in the range [0, +2*PI]. * Otherwise, the specified angle will be in the range [-PI, +PI]. * * \param rot The 3x3 rotation matrix to convert @@ -252,7 +288,7 @@ namespace Eigen bool PositiveRangeBeta, bool PositiveRangeGamma, typename Derived> - static EulerAngles& FromRotation(const RotationBase<Derived, 3>& rot) + static EulerAngles FromRotation(const RotationBase<Derived, 3>& rot) { return FromRotation<PositiveRangeAlpha, PositiveRangeBeta, PositiveRangeGamma>(rot.toRotationMatrix()); } @@ -305,10 +341,17 @@ namespace Eigen AngleAxisType(beta(), BetaAxisVector()) * AngleAxisType(gamma(), GammaAxisVector()); } + + friend std::ostream& operator<<(std::ostream& s, const EulerAngles<Scalar, System>& eulerAngles) + { + s << eulerAngles.angles().transpose(); + return s; + } }; #define EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(AXES, SCALAR_TYPE, SCALAR_POSTFIX) \ - typedef EulerAngles<SCALAR_TYPE, EulerSystem##AXES> EulerSystem##AXES##SCALAR_POSTFIX; + /** \ingroup EulerAngles_Module */ \ + typedef EulerAngles<SCALAR_TYPE, EulerSystem##AXES> EulerAngles##AXES##SCALAR_POSTFIX; #define EIGEN_EULER_ANGLES_TYPEDEFS(SCALAR_TYPE, SCALAR_POSTFIX) \ EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XYZ, SCALAR_TYPE, SCALAR_POSTFIX) \ |