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| Rotation (const Matrix3x3 &rot_matrix) |
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| Rotation (const CartPose6 &cart_pose6) |
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| Rotation (const Vector3D &normal_vector, const Vector3D &slide_vector, const Vector3D &approach_vector) |
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| Rotation (double psi_Z, double theta_Y, double phi_X) |
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| Rotation (Vector4D &quaternion) |
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| Rotation (double xx, double xy, double xz, double yx, double yy, double yz, double zx, double zy, double zz) |
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| Rotation (const Vector3D &axis, double angle) |
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| Rotation (const Rotation &rotation) |
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void | set (const Matrix3x3 &rot_matrix) |
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void | set (const CartPose6 &cart_pose6) |
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void | set (const Vector3D &normal_vector, const Vector3D &slide_vector, const Vector3D &approach_vector) |
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void | set (double psi_Z, double theta_Y, double phi_X) |
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void | set (double xx, double xy, double xz, double yx, double yy, double yz, double zx, double zy, double zz) |
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void | set (const Vector3D &axis, double angle) |
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void | set (const Rotation &rotation) |
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void | set (const Vector4D &quaternion) |
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void | setPsi (double psi_Z) |
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void | setTheta (double theta_Y) |
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void | setPhi (double phi_X) |
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double | getPsi () const |
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double | getTheta () const |
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double | getPhi () const |
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Vector3D | UnitX () const |
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Vector3D | UnitY () const |
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Vector3D | UnitZ () const |
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void | getAxisAngleForm (Vector3D &axis, double &angle, double error_tolerance=0.000002) const |
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double | getElement (unsigned int i, unsigned int j) const |
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Matrix3x3 | getData () const |
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Matrix3x3 | getMatrix () const |
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Quaternion | getQuaternion () const |
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Matrix3x3 | getEulerRatesToCartesianTwistMatrix () const |
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Vector3D | eulerRatesToCartesianTwist (double yaw_dot, double pitch_dot, double roll_dot) const |
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Vector3D | eulerRatesToCartesianTwist (Vector3D eulerRatesYPR) const |
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Vector3D | cartesianTwistToEulerRates (Vector3D twist) const |
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Vector3D | eulerAccelToPoisson (double yaw_dot, double pitch_dot, double roll_dot, double yaw_ddot, double pitch_ddot, double roll_ddot) |
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Vector3D | eulerAccelToPoisson (Vector3D eulerRatesYPR, Vector3D eulerAccelYPR) |
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void | GetRPY (double &roll, double &pitch, double &yaw, double error_tolerance=0.000002) const |
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void | GetEulerZYX (double &psi_Z, double &theta_Y, double &phi_X, double error_tolerance=1E-12) const |
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void | RotateAboutX (double angle) |
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void | RotateAboutY (double angle) |
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void | RotateAboutZ (double angle) |
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void | RotateX (double angle) |
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void | RotateY (double angle) |
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void | RotateZ (double angle) |
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Rotation & | operator= (const Rotation &rotation) |
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| Rotation (const Matrix3x3 &rot_matrix) |
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| Rotation (const CartPose6 &cart_pose6) |
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| Rotation (const Vector3D &normal_vector, const Vector3D &slide_vector, const Vector3D &approach_vector) |
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| Rotation (double psi_Z, double theta_Y, double phi_X) |
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| Rotation (Vector4D &quaternion) |
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| Rotation (double xx, double xy, double xz, double yx, double yy, double yz, double zx, double zy, double zz) |
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| Rotation (const Vector3D &axis, double angle) |
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| Rotation (const Rotation &rotation) |
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void | set (const Matrix3x3 &rot_matrix) |
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void | set (const CartPose6 &cart_pose6) |
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void | set (const Vector3D &normal_vector, const Vector3D &slide_vector, const Vector3D &approach_vector) |
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void | set (double psi_Z, double theta_Y, double phi_X) |
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void | set (double xx, double xy, double xz, double yx, double yy, double yz, double zx, double zy, double zz) |
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void | set (const Vector3D &axis, double angle) |
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void | set (const Rotation &rotation) |
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void | set (const Vector4D &quaternion) |
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void | setPsi (double psi_Z) |
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void | setTheta (double theta_Y) |
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void | setPhi (double phi_X) |
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double | getPsi () const |
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double | getTheta () const |
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double | getPhi () const |
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Vector3D | UnitX () const |
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Vector3D | UnitY () const |
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Vector3D | UnitZ () const |
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void | getAxisAngleForm (Vector3D &axis, double &angle, double error_tolerance=0.000002) const |
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double | getElement (unsigned int i, unsigned int j) const |
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Matrix3x3 | getData () const |
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Matrix3x3 | getMatrix () const |
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Quaternion | getQuaternion () const |
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Matrix3x3 | getEulerRatesToCartesianTwistMatrix () const |
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Vector3D | eulerRatesToCartesianTwist (double yaw_dot, double pitch_dot, double roll_dot) const |
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Vector3D | eulerRatesToCartesianTwist (Vector3D eulerRatesYPR) const |
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Vector3D | cartesianTwistToEulerRates (Vector3D twist) const |
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Vector3D | eulerAccelToPoisson (double yaw_dot, double pitch_dot, double roll_dot, double yaw_ddot, double pitch_ddot, double roll_ddot) |
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Vector3D | eulerAccelToPoisson (Vector3D eulerRatesYPR, Vector3D eulerAccelYPR) |
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void | GetRPY (double &roll, double &pitch, double &yaw, double error_tolerance=0.000002) const |
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void | GetEulerZYX (double &psi_Z, double &theta_Y, double &phi_X, double error_tolerance=1E-12) const |
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void | RotateAboutX (double angle) |
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void | RotateAboutY (double angle) |
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void | RotateAboutZ (double angle) |
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void | RotateX (double angle) |
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void | RotateY (double angle) |
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void | RotateZ (double angle) |
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Rotation & | operator= (const Rotation &rotation) |
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1.8.17