dynkin namespace

dynkin namespace

Contents

Namespaces

namespace rigidbody
rigidbodynamespace

Classes

struct _Frame
Representing a coordinate frame.
struct Transform
Representing a transform between two Frames

Functions

auto transform(Frame zeroth, Frame end) -> Transform
Find transform between two frames.
auto rotation_to_euler(const Eigen::Matrix3d& rotation) -> Eigen::Vector3d
Convert a 3x3 rotation matrix to euler angles using the YPR euler angle convention.
auto euler_to_rotation(const Eigen::Vector3d& attitude) -> Eigen::Matrix3d
Convert a vector of euler angles to a rotation matrix using the YPR uler angle convention.
auto create_frame(Frame parent = nullptr) -> Frame
Create a Frame object.

Function documentation

Transform dynkin::transform(Frame zeroth, Frame end)
#include <dynkin/dynkin.hpp>

Find transform between two frames.

Parameters
zeroth Zeroth frame of transform
end End frame of transform
Returns Transform from zeroth to end

Eigen::Vector3d dynkin::rotation_to_euler(const Eigen::Matrix3d& rotation)
#include <dynkin/dynkin.hpp>

Convert a 3x3 rotation matrix to euler angles using the YPR euler angle convention.

Parameters
rotation A 3x3 rotation matrix
Returns Calculated euler angles [roll, pitch, yaw]

Eigen::Matrix3d dynkin::euler_to_rotation(const Eigen::Vector3d& attitude)
#include <dynkin/dynkin.hpp>

Convert a vector of euler angles to a rotation matrix using the YPR uler angle convention.

Parameters
attitude A vector of euler angles [roll, pitch, yaw]
Returns Calculated 3x3 rotation matrix

Frame dynkin::create_frame(Frame parent = nullptr)
#include <dynkin/dynkin.hpp>

Create a Frame object.

Parameters
parent The parent frame of the new frame
Returns A new Frame