template<typename Type >
Eigen::Quaternion< Type >	px4_ros2::attitudeNedToEnu (const Eigen::Quaternion< Type > &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...

template<typename Type >
Eigen::Quaternion< Type >	px4_ros2::attitudeEnuToNed (const Eigen::Quaternion< Type > &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...

template<typename Type >
Eigen::Matrix< Type, 3, 1 >	px4_ros2::yawBodyToWorld (Type yaw, const Eigen::Matrix< Type, 3, 1 > &point_body)
	Transforms a point from body frame to world frame given the yaw of the body's attitude. More...

template<typename T >
static T	px4_ros2::yawNedToEnu (const T yaw_ned_rad)
	Converts yaw from NED to ENU frame. More...

template<typename T >
static T	px4_ros2::yawEnuToNed (const T yaw_enu_rad)
	Converts yaw from ENU to NED frame. More...

template<typename T >
static T	px4_ros2::yawRateNedToEnu (const T yaw_rate_ned)
	Converts yaw rate from NED to ENU frame. More...

template<typename T >
static T	px4_ros2::yawRateEnuToNed (const T yaw_rate_enu)
	Converts yaw rate from ENU to NED frame. More...

template<typename T >
static Eigen::Matrix< T, 3, 1 >	px4_ros2::positionNedToEnu (const Eigen::Matrix< T, 3, 1 > &ned)
	Converts coordinates from NED to ENU frame. More...

template<typename T >
static Eigen::Matrix< T, 3, 1 >	px4_ros2::positionEnuToNed (const Eigen::Matrix< T, 3, 1 > &enu)
	Converts coordinates from ENU to NED frame. More...

template<typename T >
static Eigen::Matrix< T, 3, 1 >	px4_ros2::frdToFlu (const Eigen::Matrix< T, 3, 1 > &frd)
	Converts coordinates from FRD to FLU frame. More...

template<typename T >
static Eigen::Matrix< T, 3, 1 >	px4_ros2::fluToFrd (const Eigen::Matrix< T, 3, 1 > &flu)
	Converts coordinates from FLU to FRD frame. More...

template<typename T >
static Eigen::Matrix< T, 3, 1 >	px4_ros2::varianceNedToEnu (const Eigen::Matrix< T, 3, 1 > &v_ned)
	Converts variance from NED to ENU frame. More...

template<typename T >
static Eigen::Matrix< T, 3, 1 >	px4_ros2::varianceEnuToNed (const Eigen::Matrix< T, 3, 1 > &v_enu)
	Converts variance from ENU to NED frame. More...

Detailed Description

This group contains helper functions to switch between reference frames.

Function Documentation

◆ attitudeEnuToNed()

template<typename Type >

Eigen::Quaternion<Type> px4_ros2::attitudeEnuToNed ( const Eigen::Quaternion< Type > & 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.

◆ attitudeNedToEnu()

template<typename Type >

Eigen::Quaternion<Type> px4_ros2::attitudeNedToEnu ( const Eigen::Quaternion< Type > & 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.

◆ fluToFrd()

template<typename T >

static Eigen::Matrix<T, 3, 1> px4_ros2::fluToFrd ( const Eigen::Matrix< T, 3, 1 > & flu )

inlinestatic

Converts coordinates from FLU to FRD frame.

Parameters

flu	Coordinates in FLU frame.

Returns: Coordinates in FRD frame.

◆ frdToFlu()

template<typename T >

static Eigen::Matrix<T, 3, 1> px4_ros2::frdToFlu ( const Eigen::Matrix< T, 3, 1 > & frd )

inlinestatic

Converts coordinates from FRD to FLU frame.

Parameters

frd	Coordinates in FRD frame.

Returns: Coordinates in FLU frame.

◆ positionEnuToNed()

template<typename T >

static Eigen::Matrix<T, 3, 1> px4_ros2::positionEnuToNed ( const Eigen::Matrix< T, 3, 1 > & enu )

inlinestatic

Converts coordinates from ENU to NED frame.

Parameters

enu	Coordinates in ENU frame.

Returns: Coordinates in NED frame.

◆ positionNedToEnu()

template<typename T >

static Eigen::Matrix<T, 3, 1> px4_ros2::positionNedToEnu ( const Eigen::Matrix< T, 3, 1 > & ned )

inlinestatic

Converts coordinates from NED to ENU frame.

Parameters

ned	Coordinates in NED frame.

Returns: Coordinates in ENU frame.

◆ varianceEnuToNed()

template<typename T >

static Eigen::Matrix<T, 3, 1> px4_ros2::varianceEnuToNed ( const Eigen::Matrix< T, 3, 1 > & v_enu )

inlinestatic

Converts variance from ENU to NED frame.

Parameters

v_enu Variance vector in ENU frame.

Returns: Variance vector in NED frame.

◆ varianceNedToEnu()

template<typename T >

static Eigen::Matrix<T, 3, 1> px4_ros2::varianceNedToEnu ( const Eigen::Matrix< T, 3, 1 > & v_ned )

inlinestatic

Converts variance from NED to ENU frame.

Parameters

v_ned Variance vector in NED frame.

Returns: Variance vector in ENU frame.

◆ yawBodyToWorld()

template<typename Type >

Eigen::Matrix<Type, 3, 1> px4_ros2::yawBodyToWorld	(	Type	yaw,
		const Eigen::Matrix< Type, 3, 1 > &	point_body
	)

Transforms a point from body frame to world frame given the yaw of the body's attitude.

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()

template<typename T >

static T px4_ros2::yawEnuToNed ( const T yaw_enu_rad )

inlinestatic

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()

template<typename T >

static T px4_ros2::yawNedToEnu ( const T yaw_ned_rad )

inlinestatic

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()

template<typename T >

static T px4_ros2::yawRateEnuToNed ( const T yaw_rate_enu )

inlinestatic

Converts yaw rate from ENU to NED frame.

Parameters

yaw_rate_enu Yaw rate in ENU frame.

Returns: Yaw rate in NED frame.

◆ yawRateNedToEnu()

template<typename T >

static T px4_ros2::yawRateNedToEnu ( const T yaw_rate_ned )

inlinestatic

Converts yaw rate from NED to ENU frame.

Parameters

yaw_rate_ned Yaw rate in NED frame.

Returns: Yaw rate in ENU frame.