YawPitchRoll.h File Reference

Conversion from yaw, pitch and roll to Quaternion and vice versa. More...

#include <boost/tuple/tuple.hpp>
#include <math/Eigen.h>

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Namespaces
	mira
	specialize cv::DataType for our ImgPixel and inherit from cv::DataType<Vec>
	Eigen

Functions
template<typename Derived >
Eigen::Matrix< typename Eigen::MatrixBase< Derived >::Scalar, 3, 1 >	eulerAngles (const Eigen::MatrixBase< Derived > &mat, typename Eigen::MatrixBase< Derived >::Index a0, typename Eigen::MatrixBase< Derived >::Index a1, typename Eigen::MatrixBase< Derived >::Index a2)
	Returns the Euler-angles of the rotation matrix mat using the convention defined by the triplet (a0,a1,a2) More...
template<typename T >
Eigen::Quaternion< T >	quaternionFromYawPitchRoll (T yaw, T pitch, T roll)
	Converts yaw, pitch and roll angles to a quaternion. More...
template<typename T >
Eigen::Quaternion< T >	quaternionFromYawPitchRoll (const boost::tuples::tuple< T, T, T > &ypr)
	Same as the above method, that takes the yaw, pitch, roll angles as 3-tuple. More...
template<typename T >
void	quaternionCovFromYawPitchRollCov (const Eigen::Matrix< T, 6, 6 > &eulerCovariance, float yaw, float pitch, float roll, Eigen::Quaternion< T > &oOrientation, Eigen::Matrix< T, 7, 7 > &oCovariance)
	Converts 6x6 dimensional covariance matrix (3D + yaw, pitch and roll) angles to a 7x7 dimensional quaternion covariance matrix (3D + Quaternion) Our convention for the order of rotations is as follows: yaw around the Z-Axis (pointing upwards) pitch around the Y-Axis (pointing left) roll around the X-Axis (pointing forward) More...
template<typename T >
Eigen::Matrix< T, 7, 7 >	quaternionCovFromYawPitchRollCov (const Eigen::Matrix< T, 6, 6 > &eulerCovariance, float yaw, float pitch, float roll)
	Converts 6x6 dimensional covariance matrix (3D + yaw, pitch and roll) angles to a 7x7 dimensional quaternion covariance matrix (3D + Quaternion) Our convention for the order of rotations is as follows: yaw around the Z-Axis (pointing upwards) pitch around the Y-Axis (pointing left) roll around the X-Axis (pointing forward) More...
template<typename T >
Eigen::Matrix< T, 7, 7 >	quaternionCovFromYawPitchRollCov (const Eigen::Matrix< T, 6, 6 > &eulerCovariance, const Eigen::Quaternion< T > &rotation)
	Same as the above method, that takes the orientation as yaw,pitch,roll angles. More...
template<typename T >
boost::tuples::tuple< T, T, T >	quaternionToYawPitchRoll (const Eigen::Quaternion< T > &q)
	Converts a quaternion back to yaw, pitch, roll angles. More...
template<typename T >
Eigen::Matrix< T, 6, 6 >	quaternionCovToYawPitchRollCov (const Eigen::Matrix< T, 7, 7 > &covariance, const Eigen::Quaternion< T > &q)
	Converts a 7x7 dimensional quaternion covariance (3D + Quaternion) back to a 6x6 dimensional euler covariance (3D + Yaw, Pitch, Roll). More...
template<typename T >
Eigen::Matrix< T, 3, 3 >	matrixFromYawPitchRoll (T yaw, T pitch, T roll)
	Converts yaw, pitch and roll angles to a rotation matrix. More...
template<typename T >
Eigen::Matrix< T, 3, 3 >	matrixFromYawPitchRoll (const boost::tuples::tuple< T, T, T > &ypr)
	Same as the above method, that takes the yaw,pitch,roll angles as 3-tuple. More...
template<typename T >
boost::tuples::tuple< T, T, T >	matrixToYawPitchRoll (const Eigen::Matrix< T, 3, 3 > &r)
	Converts a rotation matrix back to yaw, pitch, roll angles. More...
template<typename T >
void	derivMatricesFromYawPitchRoll (T yaw, T pitch, T roll, Eigen::Matrix< T, 3, 3 > &oR_dyaw, Eigen::Matrix< T, 3, 3 > &oR_dpitch, Eigen::Matrix< T, 3, 3 > &oR_droll)
	Returns the 3 derivates of the above rotation matrix, i.e. More...

Detailed Description

Conversion from yaw, pitch and roll to Quaternion and vice versa.

Author

Christoph Weinrich, Tim Langner, Erik Einhorn

Date

2011/05/06