Utility methods (such as coordinate transformations) More...

Classes
class	auterion::MapProjection
	Provides methods to convert between the geographical coordinate system ("global") and the ENU local azimuthal equidistant plane ("local"). More...

Eigen::Quaternionf	auterion::attitudeNedToEnu (const Eigen::Quaternionf &q_ned)
	Converts attitude from NED to ENU frame. Performs reference frame change and quaternion rotation s.t. the identity quaternion points along the x-axis within its reference frame. More...

Eigen::Quaterniond	auterion::attitudeNedToEnu (const Eigen::Quaterniond &q_ned)

Eigen::Quaternionf	auterion::attitudeEnuToNed (const Eigen::Quaternionf &q_enu)
	Converts attitude from ENU to NED frame. Performs reference frame change and quaternion rotation s.t. the identity quaternion points along the x-axis within its reference frame. More...

Eigen::Quaterniond	auterion::attitudeEnuToNed (const Eigen::Quaterniond &q_enu)

Eigen::Quaternionf	auterion::attitudeFrdToFlu (const Eigen::Quaternionf &q_frd)
	Converts attitude from FRD to FLU frame. Performs reference frame change and quaternion rotation s.t. the identity quaternion points along the x-axis within its reference frame. More...

Eigen::Quaterniond	auterion::attitudeFrdToFlu (const Eigen::Quaterniond &q_frd)

Eigen::Quaternionf	auterion::attitudeFluToFrd (const Eigen::Quaternionf &q_flu)
	Converts attitude from FLU to FRD frame. Performs reference frame change and quaternion rotation s.t. the identity quaternion points along the x-axis within its reference frame. More...

Eigen::Quaterniond	auterion::attitudeFluToFrd (const Eigen::Quaterniond &q_flu)

Eigen::Vector3f	auterion::yawBodyToWorld (float yaw, const Eigen::Vector3f &point_body)
	Transforms a point from body frame to world frame given the yaw of the body's attitude. The transformation only applies a yaw rotation, and therefore assumes that the body and world frame are only yaw rotated, and that they share the same handedness. More...

Eigen::Vector3d	auterion::yawBodyToWorld (double yaw, const Eigen::Vector3d &point_body)

float	auterion::yawNedToEnu (const float yaw_ned_rad)
	Converts yaw from NED to ENU frame. More...

double	auterion::yawNedToEnu (const double yaw_ned_rad)

float	auterion::yawEnuToNed (const float yaw_enu_rad)
	Converts yaw from ENU to NED frame. More...

double	auterion::yawEnuToNed (const double yaw_enu_rad)

float	auterion::yawRateNedToEnu (const float yaw_rate_ned)
	Converts yaw rate from NED to ENU frame. More...

double	auterion::yawRateNedToEnu (const double yaw_rate_ned)

float	auterion::yawRateEnuToNed (const float yaw_rate_enu)
	Converts yaw rate from ENU to NED frame. More...

double	auterion::yawRateEnuToNed (const double yaw_rate_enu)

Eigen::Vector3f	auterion::positionNedToEnu (const Eigen::Vector3f &ned)
	Converts coordinates from NED to ENU frame. More...

Eigen::Vector3d	auterion::positionNedToEnu (const Eigen::Vector3d &ned)

Eigen::Vector2f	auterion::positionNedToEnu (const Eigen::Vector2f &ne)

Eigen::Vector2d	auterion::positionNedToEnu (const Eigen::Vector2d &ne)

Eigen::Vector3f	auterion::positionEnuToNed (const Eigen::Vector3f &enu)
	Converts coordinates from ENU to NED frame. More...

Eigen::Vector3d	auterion::positionEnuToNed (const Eigen::Vector3d &enu)

Eigen::Vector2f	auterion::positionEnuToNed (const Eigen::Vector2f &en)

Eigen::Vector2d	auterion::positionEnuToNed (const Eigen::Vector2d &en)

Eigen::Vector3f	auterion::frdToFlu (const Eigen::Vector3f &frd)
	Converts coordinates from FRD to FLU frame. More...

Eigen::Vector3d	auterion::frdToFlu (const Eigen::Vector3d &frd)

Eigen::Vector3f	auterion::fluToFrd (const Eigen::Vector3f &flu)
	Converts coordinates from FLU to FRD frame. More...

Eigen::Vector3d	auterion::fluToFrd (const Eigen::Vector3d &flu)

Eigen::Vector3f	auterion::varianceNedToEnu (const Eigen::Vector3f &v_ned)
	Converts variance from NED to ENU frame. More...

Eigen::Vector3d	auterion::varianceNedToEnu (const Eigen::Vector3d &v_ned)

Eigen::Vector3f	auterion::varianceEnuToNed (const Eigen::Vector3f &v_enu)
	Converts variance from ENU to NED frame. More...

Eigen::Vector3d	auterion::varianceEnuToNed (const Eigen::Vector3d &v_enu)

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 (const float angle)
	Wraps an angle to the range [-pi, pi). More...

double	auterion::wrapAngleToPlusMinusPi (const double angle)

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

Utility methods (such as coordinate transformations)

Function Documentation

◆ attitudeEnuToNed()

Eigen::Quaternionf auterion::attitudeEnuToNed ( const Eigen::Quaternionf & q_enu )

Converts attitude from ENU to NED frame. Performs reference frame change and quaternion rotation s.t. the identity quaternion points along the x-axis within its reference frame.

Parameters

q_enu Attitude quaternion in ENU frame.

Returns: Attitude quaternion in NED frame.

◆ attitudeFluToFrd()

Eigen::Quaternionf auterion::attitudeFluToFrd ( const Eigen::Quaternionf & q_flu )

Converts attitude from FLU to FRD frame. Performs reference frame change and quaternion rotation s.t. the identity quaternion points along the x-axis within its reference frame.

Parameters

q_flu Attitude quaternion in FLU frame.

Returns: Attitude quaternion in FRD frame.

◆ attitudeFrdToFlu()

Eigen::Quaternionf auterion::attitudeFrdToFlu ( const Eigen::Quaternionf & q_frd )

Converts attitude from FRD to FLU frame. Performs reference frame change and quaternion rotation s.t. the identity quaternion points along the x-axis within its reference frame.

Parameters

q_frd Attitude quaternion in FRD frame.

Returns: Attitude quaternion in FLU frame.

◆ attitudeNedToEnu()

Eigen::Quaternionf auterion::attitudeNedToEnu ( const Eigen::Quaternionf & q_ned )

Converts attitude from NED to ENU frame. Performs reference frame change and quaternion rotation s.t. the identity quaternion points along the x-axis within its reference frame.

Parameters

q_ned Attitude quaternion in NED frame.

Returns: Attitude quaternion in ENU frame.

◆ eulerRpyToQuaternion() [1/2]

Eigen::Quaternionf auterion::eulerRpyToQuaternion ( const Eigen::Vector3f & euler )

Converts RPY extrinsic Tait-Bryan Euler angles (YPR intrinsic) to quaternion.

Parameters

euler The euler angles [rad]

Returns: Quaternion corresponding to the given euler angles.

◆ eulerRpyToQuaternion() [2/2]

Eigen::Quaternionf auterion::eulerRpyToQuaternion	(	const float	roll,
		const float	pitch,
		const float	yaw
	)

Converts RPY extrinsic Tait-Bryan Euler angles (YPR intrinsic) to quaternion.

Parameters

roll	The roll angle [rad].
pitch	The pitch angle [rad].
yaw	The yaw angle [rad].

Returns: Quaternion corresponding to the given euler angles.

◆ fluToFrd()

Eigen::Vector3f auterion::fluToFrd ( const Eigen::Vector3f & flu )

Converts coordinates from FLU to FRD frame.

Parameters

flu	Coordinates in FLU frame.

Returns: Coordinates in FRD frame.

◆ frdToFlu()

Eigen::Vector3f auterion::frdToFlu ( const Eigen::Vector3f & frd )

Converts coordinates from FRD to FLU frame.

Parameters

frd	Coordinates in FRD frame.

Returns: Coordinates in FLU frame.

◆ positionEnuToNed()

Eigen::Vector3f auterion::positionEnuToNed ( const Eigen::Vector3f & enu )

Converts coordinates from ENU to NED frame.

Parameters

enu	Coordinates in ENU frame.

Returns: Coordinates in NED frame.

◆ positionNedToEnu()

Eigen::Vector3f auterion::positionNedToEnu ( const Eigen::Vector3f & ned )

Converts coordinates from NED to ENU frame.

Parameters

ned	Coordinates in NED frame.

Returns: Coordinates in ENU frame.

◆ quaternionToEulerRpy()

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.

Parameters

q	The input quaternion.

Returns: Euler angles corresponding to the given quaternion in range R, P, Y = [-pi, pi], [-pi/2, pi], [-pi, pi].

◆ quaternionToPitch()

float auterion::quaternionToPitch ( const Eigen::Quaternionf & q )

Convert quaternion to pitch angle in extrinsic RPY order (intrinsic YPR)

Parameters

q	The input quaternion

Returns: Pitch angle corresponding to the given quaternion in range [-pi, pi]

◆ quaternionToRoll()

float auterion::quaternionToRoll ( const Eigen::Quaternionf & q )

Convert quaternion to roll angle in extrinsic RPY order (intrinsic YPR)

Parameters

q	The input quaternion

Returns: Roll angle corresponding to the given quaternion in range [-pi, pi]

◆ quaternionToYaw()

float auterion::quaternionToYaw ( const Eigen::Quaternionf & q )

Convert quaternion to yaw angle in extrinsic RPY order (intrinsic YPR)

Parameters

q	The input quaternion

Returns: Yaw angle corresponding to the given quaternion in range [-pi, pi]

◆ varianceEnuToNed()

Eigen::Vector3f auterion::varianceEnuToNed ( const Eigen::Vector3f & v_enu )

Converts variance from ENU to NED frame.

Parameters

v_enu Variance vector in ENU frame.

Returns: Variance vector in NED frame.

◆ varianceNedToEnu()

Eigen::Vector3f auterion::varianceNedToEnu ( const Eigen::Vector3f & v_ned )

Converts variance from NED to ENU frame.

Parameters

v_ned Variance vector in NED frame.

Returns: Variance vector in ENU frame.

◆ wrapAngleToPlusMinusPi()

float auterion::wrapAngleToPlusMinusPi ( const float angle )

Wraps an angle to the range [-pi, pi).

Parameters

angle The input angle [rad].

Returns: The wrapped angle in the range [-pi, pi).

◆ yawBodyToWorld()

Eigen::Vector3f auterion::yawBodyToWorld	(	float	yaw,
		const Eigen::Vector3f &	point_body
	)

Transforms a point from body frame to world frame given the yaw of the body's attitude. The transformation only applies a yaw rotation, and therefore assumes that the body and world frame are only yaw rotated, and that they share the same handedness.

Parameters

yaw	The yaw of the body's attitude [rad].
point_body	The point coordinates in the body frame.

Returns: The yaw rotated point in the world frame.

◆ yawEnuToNed()

float auterion::yawEnuToNed ( const float yaw_enu_rad )

Converts yaw from ENU to NED frame.

Parameters

yaw_enu_rad Yaw angle in ENU frame [rad].

Returns: Yaw angle in NED frame [rad], wrapped to [-pi, pi].

◆ yawNedToEnu()

float auterion::yawNedToEnu ( const float yaw_ned_rad )

Converts yaw from NED to ENU frame.

Parameters

yaw_ned_rad Yaw angle in NED frame [rad].

Returns: Yaw angle in ENU frame [rad], wrapped to [-pi, pi].

◆ yawRateEnuToNed()

float auterion::yawRateEnuToNed ( const float yaw_rate_enu )

Converts yaw rate from ENU to NED frame.

Parameters

yaw_rate_enu Yaw rate in ENU frame.

Returns: Yaw rate in NED frame.

◆ yawRateNedToEnu()

float auterion::yawRateNedToEnu ( const float yaw_rate_ned )

Converts yaw rate from NED to ENU frame.

Parameters

yaw_rate_ned Yaw rate in NED frame.

Returns: Yaw rate in ENU frame.

Classes

Detailed Description

Function Documentation

◆ attitudeEnuToNed()

◆ attitudeFluToFrd()

◆ attitudeFrdToFlu()

◆ attitudeNedToEnu()

◆ eulerRpyToQuaternion() [1/2]

◆ eulerRpyToQuaternion() [2/2]

◆ fluToFrd()

◆ frdToFlu()

◆ positionEnuToNed()

◆ positionNedToEnu()

◆ quaternionToEulerRpy()

◆ quaternionToPitch()

◆ quaternionToRoll()

◆ quaternionToYaw()

◆ varianceEnuToNed()

◆ varianceNedToEnu()

◆ wrapAngleToPlusMinusPi()

◆ yawBodyToWorld()

◆ yawEnuToNed()

◆ yawNedToEnu()

◆ yawRateEnuToNed()

◆ yawRateNedToEnu()