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template<typename Type > |
| Type | px4_ros2::radToDeg (Type rad) |
| | Converts radians to degrees.
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template<typename Type > |
| Type | px4_ros2::degToRad (Type deg) |
| | Converts degrees to radians.
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| template<typename Type > |
| Type | px4_ros2::wrapPi (Type angle) |
| | Wraps an angle to the range [-pi, pi). More...
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| template<typename Type > |
| Eigen::Matrix< Type, 3, 1 > | px4_ros2::quaternionToEulerRpy (const Eigen::Quaternion< Type > &q) |
| | Converts a quaternion to RPY extrinsic Tait-Bryan Euler angles (YPR intrinsic) XYZ axes correspond to RPY angles respectively. More...
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| template<typename Type > |
| Eigen::Quaternion< Type > | px4_ros2::eulerRpyToQuaternion (const Eigen::Matrix< Type, 3, 1 > &euler) |
| | Converts RPY extrinsic Tait-Bryan Euler angles (YPR intrinsic) to quaternion. More...
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| template<typename Type > |
| Eigen::Quaternion< Type > | px4_ros2::eulerRpyToQuaternion (const Type roll, const Type pitch, const Type yaw) |
| | Converts RPY extrinsic Tait-Bryan Euler angles (YPR intrinsic) to quaternion. More...
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| template<typename Type > |
| Type | px4_ros2::quaternionToRoll (const Eigen::Quaternion< Type > &q) |
| | Convert quaternion to roll angle in extrinsic RPY order (intrinsic YPR) More...
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| template<typename Type > |
| Type | px4_ros2::quaternionToPitch (const Eigen::Quaternion< Type > &q) |
| | Convert quaternion to pitch angle in extrinsic RPY order (intrinsic YPR) More...
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| template<typename Type > |
| Type | px4_ros2::quaternionToYaw (const Eigen::Quaternion< Type > &q) |
| | Convert quaternion to yaw angle in extrinsic RPY order (intrinsic YPR) More...
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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"
◆ eulerRpyToQuaternion() [1/2]
template<typename Type >
| Eigen::Quaternion<Type> px4_ros2::eulerRpyToQuaternion |
( |
const Eigen::Matrix< Type, 3, 1 > & |
euler | ) |
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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]
template<typename Type >
| Eigen::Quaternion<Type> px4_ros2::eulerRpyToQuaternion |
( |
const Type |
roll, |
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const Type |
pitch, |
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const Type |
yaw |
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) |
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Converts RPY extrinsic Tait-Bryan Euler angles (YPR intrinsic) to quaternion.
- Parameters
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| roll | The roll angle [rad]. |
| pitch | The pitch angle [rad]. |
| yaw | The yaw angle [rad]. |
- Returns
- Quaternion corresponding to the given euler angles.
◆ quaternionToEulerRpy()
template<typename Type >
| Eigen::Matrix<Type, 3, 1> px4_ros2::quaternionToEulerRpy |
( |
const Eigen::Quaternion< Type > & |
q | ) |
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Converts a quaternion to RPY extrinsic Tait-Bryan Euler angles (YPR intrinsic) XYZ axes correspond to RPY angles respectively.
- Parameters
-
- Returns
- Euler angles corresponding to the given quaternion in range R, P, Y = [-pi, pi], [-pi/2, pi/2], [-pi, pi].
◆ quaternionToPitch()
template<typename Type >
| Type px4_ros2::quaternionToPitch |
( |
const Eigen::Quaternion< Type > & |
q | ) |
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Convert quaternion to pitch angle in extrinsic RPY order (intrinsic YPR)
- Parameters
-
- Returns
- Pitch angle corresponding to the given quaternion in range [-pi, pi]
◆ quaternionToRoll()
template<typename Type >
| Type px4_ros2::quaternionToRoll |
( |
const Eigen::Quaternion< Type > & |
q | ) |
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Convert quaternion to roll angle in extrinsic RPY order (intrinsic YPR)
- Parameters
-
- Returns
- Roll angle corresponding to the given quaternion in range [-pi, pi]
◆ quaternionToYaw()
template<typename Type >
| Type px4_ros2::quaternionToYaw |
( |
const Eigen::Quaternion< Type > & |
q | ) |
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Convert quaternion to yaw angle in extrinsic RPY order (intrinsic YPR)
- Parameters
-
- Returns
- Yaw angle corresponding to the given quaternion in range [-pi, pi]
◆ wrapPi()
template<typename Type >
| Type px4_ros2::wrapPi |
( |
Type |
angle | ) |
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Wraps an angle to the range [-pi, pi).
- Parameters
-
| angle | The input angle [rad]. |
- Returns
- The wrapped angle in the range [-pi, pi).
1.9.1