geometry.hpp File Reference

#include <Eigen/Eigen>

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Functions
constexpr float	auterion::literals::operator""_deg (long double degrees)
constexpr float	auterion::literals::operator""_rad (long double radians)
float	auterion::radToDeg (const float rad)
	Converts radians to degrees.
double	auterion::radToDeg (const double rad)
float	auterion::degToRad (const float deg)
	Converts degrees to radians.
double	auterion::degToRad (const double deg)
float	auterion::wrapAngleToPlusMinusPi (float yaw)
	Wraps an angle to the range [-pi, pi). More...
double	auterion::wrapAngleToPlusMinusPi (double yaw)
Eigen::Vector3f	auterion::quaternionToEulerRpy (const Eigen::Quaternionf &q)
	Converts a quaternion to RPY extrinsic Tait-Bryan Euler angles (YPR intrinsic) XYZ axes correspond to RPY angles respectively. More...
Eigen::Vector3d	auterion::quaternionToEulerRpy (const Eigen::Quaterniond &q)
Eigen::Quaternionf	auterion::eulerRpyToQuaternion (const Eigen::Vector3f &euler)
	Converts RPY extrinsic Tait-Bryan Euler angles (YPR intrinsic) to quaternion. More...
Eigen::Quaterniond	auterion::eulerRpyToQuaternion (const Eigen::Vector3d &euler)
Eigen::Quaternionf	auterion::eulerRpyToQuaternion (const float roll, const float pitch, const float yaw)
	Converts RPY extrinsic Tait-Bryan Euler angles (YPR intrinsic) to quaternion. More...
Eigen::Quaterniond	auterion::eulerRpyToQuaternion (const double roll, const double pitch, const double yaw)
float	auterion::quaternionToRoll (const Eigen::Quaternionf &q)
	Convert quaternion to roll angle in extrinsic RPY order (intrinsic YPR) More...
double	auterion::quaternionToRoll (const Eigen::Quaterniond &q)
float	auterion::quaternionToPitch (const Eigen::Quaternionf &q)
	Convert quaternion to pitch angle in extrinsic RPY order (intrinsic YPR) More...
double	auterion::quaternionToPitch (const Eigen::Quaterniond &q)
float	auterion::quaternionToYaw (const Eigen::Quaternionf &q)
	Convert quaternion to yaw angle in extrinsic RPY order (intrinsic YPR) More...
double	auterion::quaternionToYaw (const Eigen::Quaterniond &q)

Detailed Description

All rotations and axis systems follow the right-hand rule

Euler angles follow the convention of a 1-2-3 extrinsic Tait-Bryan rotation sequence. In order to go from frame 1 to frame 2 we apply the following rotations consecutively. 1) We rotate about our fixed X axis by an angle of "roll" 2) We rotate about our fixed Y axis by an angle of "pitch" 3) We rotate abour our fixed Z axis by an angle of "yaw"

Note that this convention is equivalent to that of a 3-2-1 intrinsic Tait-Bryan rotation sequence, i.e. 1) We rotate about our initial Z axis by an angle of "yaw" 2) We rotate about the newly created Y' axis by an angle of "pitch" 3) We rotate about the newly created X'' axis by an angle of "roll"