mars::Attitude Struct Reference

The Attitude struct. More...

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensors/attitude/attitude_conversion.h>

Collaboration diagram for mars::Attitude:

Public Member Functions
	Attitude ()=default
	Attitude (const Eigen::Quaterniond &quaternion)
	Attitude (const Eigen::Matrix3d &rotation_matrix)
	Attitude (const Eigen::Vector3d &vec, const std::string &order="XYZ")
Eigen::Matrix3d	get_rotation_matrix ()
Eigen::Vector2d	get_rp ()

Public Attributes
Eigen::Quaterniond	quaternion_

Friends
std::ostream &	operator<< (std::ostream &out, const Attitude &attitude)

Detailed Description

The Attitude struct.

Constructor & Destructor Documentation

Attitude() [1/4]

mars::Attitude::Attitude ( )

default

Attitude() [2/4]

mars::Attitude::Attitude ( const Eigen::Quaterniond &  quaternion )

inline

                                               : quaternion_(quaternion)
  {
  }

Attitude() [3/4]

mars::Attitude::Attitude ( const Eigen::Matrix3d &  rotation_matrix )

inline

                                                 : quaternion_(rotation_matrix)
  {
  }

Attitude() [4/4]

mars::Attitude::Attitude ( const Eigen::Vector3d &  vec, const std::string &  order = "XYZ"  )

inline

Todo:

TODO other orders need to be implemented

  {
    // scoping
    using AAd = Eigen::AngleAxisd;
    using v3d = Eigen::Vector3d;
 
    if (order == "XYZ")
    {
      quaternion_ = AAd(vec(0), v3d::UnitX()) * AAd(vec(1), v3d::UnitY()) * AAd(vec(2), v3d::UnitZ());
    }
    else if (order == "ZYX")
    {
      quaternion_ = AAd(vec(2), v3d::UnitZ()) * AAd(vec(1), v3d::UnitY()) * AAd(vec(0), v3d::UnitX());
    }
  }

Member Function Documentation

get_rotation_matrix()

Eigen::Matrix3d mars::Attitude::get_rotation_matrix ( )

inline

  {
    return quaternion_.toRotationMatrix();
  }

get_rp()

Eigen::Vector2d mars::Attitude::get_rp ( )

inline

  {
    Eigen::Vector3d rpy = mars::Utils::RPYFromRotMat(quaternion_.toRotationMatrix());
    return { rpy(0), rpy(1) };
  }

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Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  out, const Attitude &  attitude  )

friend

Member Data Documentation

quaternion_

Eigen::Quaterniond mars::Attitude::quaternion_

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The documentation for this struct was generated from the following file:

• attitude_conversion.h