旋转矩阵类，继承自 Eigen::Matrix<Scalar, 3, 3>。 Rotation matrix class, inheriting from Eigen::Matrix<Scalar, 3, 3>. More...

#include <transform.hpp>

Inheritance diagram for LibXR::RotationMatrix< Scalar >:

Collaboration diagram for LibXR::RotationMatrix< Scalar >:

Public Member Functions
	RotationMatrix ()
	默认构造函数，初始化单位旋转矩阵。 Default constructor initializing an identity rotation matrix.

	RotationMatrix (Scalar r00, Scalar r01, Scalar r02, Scalar r10, Scalar r11, Scalar r12, Scalar r20, Scalar r21, Scalar r22)
	通过 9 个矩阵元素的值构造旋转矩阵。 Constructs a rotation matrix using 9 matrix elements.

	RotationMatrix (const Eigen::Matrix< Scalar, 3, 3 > &R)
	通过 Eigen 3x3 矩阵构造旋转矩阵。 Constructs a rotation matrix from an Eigen 3x3 matrix.

	RotationMatrix (const Eigen::Quaternion< Scalar > &q)
	通过 Eigen 四元数构造旋转矩阵。 Constructs a rotation matrix from an Eigen quaternion.

	RotationMatrix (const Quaternion< Scalar > &q)
	通过 `Quaternion` 四元数构造旋转矩阵。 Constructs a rotation matrix from a `Quaternion` object.

template<typename T , std::enable_if_t< std::is_same< T, Scalar >::value\|\|std::is_same< T, float >::value\|\|std::is_same< T, double >::value, int > = 0>
	RotationMatrix (const T(&data)[9])

template<typename T , std::enable_if_t< std::is_same< T, Scalar >::value\|\|std::is_same< T, float >::value\|\|std::is_same< T, double >::value, int > = 0>
	RotationMatrix (const T(&data)[3][3])

Eigen::Matrix< Scalar, 3, 3 >	operator- () const
	计算旋转矩阵的转置（逆矩阵）。 Computes the transpose (inverse) of the rotation matrix.

RotationMatrix &	operator= (const RotationMatrix &R)
	赋值运算符，将 `RotationMatrix` 赋值给当前对象。 Overloaded assignment operator to assign a `RotationMatrix` to the current object.

RotationMatrix &	operator= (const Eigen::Matrix< Scalar, 3, 3 > &R)

RotationMatrix &	operator= (const Eigen::Quaternion< Scalar > &q)

RotationMatrix &	operator= (const Quaternion< Scalar > &q)

Position< Scalar >	operator* (const Position< Scalar > &p) const

Eigen::Matrix< Scalar, 3, 1 >	operator* (const Eigen::Matrix< Scalar, 3, 1 > &p) const
	计算旋转矩阵与三维向量的乘积。 Computes the product of the rotation matrix and a 3D vector.

RotationMatrix	operator* (const RotationMatrix &rhs) const
	计算两个旋转矩阵的乘积。 Computes the product of two rotation matrices.

Eigen::Matrix< Scalar, 3, 1 >	ToEulerAngle () const
	将旋转矩阵转换为欧拉角（默认使用 ZYX 顺序）。 Converts the rotation matrix to Euler angles (default ZYX order).

Eigen::Matrix< Scalar, 3, 1 >	ToEulerAngleZYX () const

Eigen::Matrix< Scalar, 3, 1 >	ToEulerAngleXZY () const

Eigen::Matrix< Scalar, 3, 1 >	ToEulerAngleYZX () const

Eigen::Matrix< Scalar, 3, 1 >	ToEulerAngleYXZ () const

Eigen::Matrix< Scalar, 3, 1 >	ToEulerAngleZXY () const

Eigen::Matrix< Scalar, 3, 1 >	ToEulerAngleXYZ () const

Detailed Description

template<typename Scalar>
class LibXR::RotationMatrix< Scalar >

旋转矩阵类，继承自 Eigen::Matrix<Scalar, 3, 3>。 Rotation matrix class, inheriting from Eigen::Matrix<Scalar, 3, 3>.

该类提供 3x3 旋转矩阵的构造、赋值、矩阵运算以及欧拉角转换等功能，并支持从四元数构造旋转矩阵。 This class provides functionalities for constructing, assigning, operating on rotation matrices, and converting to Euler angles. It also supports constructing rotation matrices from quaternions.

Template Parameters

Scalar 旋转矩阵元素的数据类型，如 float 或 double。 The data type of the rotation matrix elements, such as float or double.

Definition at line 622 of file transform.hpp.

Constructor & Destructor Documentation

◆ RotationMatrix() [1/7]

template<typename Scalar >

LibXR::RotationMatrix< Scalar >::RotationMatrix ( )

inline

默认构造函数，初始化单位旋转矩阵。 Default constructor initializing an identity rotation matrix.

Definition at line 629 of file transform.hpp.

                   : Eigen::Matrix<Scalar, 3, 3>()
  {
    (*this) << 1, 0, 0, 0, 1, 0, 0, 0, 1;
  }

◆ RotationMatrix() [2/7]

template<typename Scalar >

LibXR::RotationMatrix< Scalar >::RotationMatrix	(	Scalar	r00,
		Scalar	r01,
		Scalar	r02,
		Scalar	r10,
		Scalar	r11,
		Scalar	r12,
		Scalar	r20,
		Scalar	r21,
		Scalar	r22 )

inline

通过 9 个矩阵元素的值构造旋转矩阵。 Constructs a rotation matrix using 9 matrix elements.

Parameters

r00	第 0 行第 0 列元素 / Element at row 0, column 0
r01	第 0 行第 1 列元素 / Element at row 0, column 1
r02	第 0 行第 2 列元素 / Element at row 0, column 2
r10	第 1 行第 0 列元素 / Element at row 1, column 0
r11	第 1 行第 1 列元素 / Element at row 1, column 1
r12	第 1 行第 2 列元素 / Element at row 1, column 2
r20	第 2 行第 0 列元素 / Element at row 2, column 0
r21	第 2 行第 1 列元素 / Element at row 2, column 1
r22	第 2 行第 2 列元素 / Element at row 2, column 2

Definition at line 648 of file transform.hpp.

      : Eigen::Matrix<Scalar, 3, 3>()
  {
    (*this) << r00, r01, r02, r10, r11, r12, r20, r21, r22;
  }

◆ RotationMatrix() [3/7]

template<typename Scalar >

LibXR::RotationMatrix< Scalar >::RotationMatrix ( const Eigen::Matrix< Scalar, 3, 3 > & R )

inline

通过 Eigen 3x3 矩阵构造旋转矩阵。 Constructs a rotation matrix from an Eigen 3x3 matrix.

Parameters

R	3x3 旋转矩阵 / The 3x3 rotation matrix.

Definition at line 661 of file transform.hpp.

661: Eigen::Matrix<Scalar, 3, 3>{R} {}

◆ RotationMatrix() [4/7]

template<typename Scalar >

LibXR::RotationMatrix< Scalar >::RotationMatrix ( const Eigen::Quaternion< Scalar > & q )

inline

通过 Eigen 四元数构造旋转矩阵。 Constructs a rotation matrix from an Eigen quaternion.

Parameters

q	Eigen 四元数 / The Eigen quaternion.

Definition at line 669 of file transform.hpp.

      : Eigen::Matrix<Scalar, 3, 3>{q.toRotationMatrix()}
  {
  }

◆ RotationMatrix() [5/7]

template<typename Scalar >

LibXR::RotationMatrix< Scalar >::RotationMatrix ( const Quaternion< Scalar > & q )

inline

通过 Quaternion 四元数构造旋转矩阵。 Constructs a rotation matrix from a Quaternion object.

Parameters

q	`Quaternion` 四元数 / The `Quaternion` object.

Definition at line 680 of file transform.hpp.

680{ *this = q.ToRotationMatrix(); }

◆ RotationMatrix() [6/7]

template<typename Scalar >

template<typename T , std::enable_if_t< std::is_same< T, Scalar >::value||std::is_same< T, float >::value||std::is_same< T, double >::value, int > = 0>

LibXR::RotationMatrix< Scalar >::RotationMatrix ( const T(&) data[9] )

inline

Definition at line 686 of file transform.hpp.

                                     : Eigen::Matrix<Scalar, 3, 3>()
  {
    (*this) << data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7],
        data[8];
  }

◆ RotationMatrix() [7/7]

template<typename Scalar >

template<typename T , std::enable_if_t< std::is_same< T, Scalar >::value||std::is_same< T, float >::value||std::is_same< T, double >::value, int > = 0>

LibXR::RotationMatrix< Scalar >::RotationMatrix ( const T(&) data[3][3] )

inline

Definition at line 696 of file transform.hpp.

                                        : Eigen::Matrix<Scalar, 3, 3>()
  {
    (*this) << data[0][0], data[0][1], data[0][2], data[1][0], data[1][1], data[1][2],
        data[2][0], data[2][1], data[2][2];
  }

Member Function Documentation

◆ operator*() [1/3]

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 1 > LibXR::RotationMatrix< Scalar >::operator* ( const Eigen::Matrix< Scalar, 3, 1 > & p ) const

inline

计算旋转矩阵与三维向量的乘积。 Computes the product of the rotation matrix and a 3D vector.

Parameters

p	输入的三维位置向量 / The input 3D position vector.

Returns: 旋转后的三维向量 / The rotated 3D vector.

Definition at line 774 of file transform.hpp.

  {
    return static_cast<Eigen::Matrix<Scalar, 3, 3>>(*this) * p;
  }

◆ operator*() [2/3]

template<typename Scalar >

Position< Scalar > LibXR::RotationMatrix< Scalar >::operator* ( const Position< Scalar > & p ) const

inline

Definition at line 762 of file transform.hpp.

  {
    return Position<Scalar>((*this) * Eigen::Matrix<Scalar, 3, 1>(p));
  }

◆ operator*() [3/3]

template<typename Scalar >

RotationMatrix LibXR::RotationMatrix< Scalar >::operator* ( const RotationMatrix< Scalar > & rhs ) const

inline

计算两个旋转矩阵的乘积。 Computes the product of two rotation matrices.

Parameters

rhs	另一个旋转矩阵 / The second rotation matrix.

Returns: 两个旋转矩阵的乘积 / The product of the two rotation matrices.

Definition at line 786 of file transform.hpp.

  {
    const Eigen::Matrix<Scalar, 3, 3>& a =
        static_cast<const Eigen::Matrix<Scalar, 3, 3>&>(*this);
    const Eigen::Matrix<Scalar, 3, 3>& b =
        static_cast<const Eigen::Matrix<Scalar, 3, 3>&>(rhs);
    return RotationMatrix(a * b);
  }

◆ operator-()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 3 > LibXR::RotationMatrix< Scalar >::operator- ( ) const

inline

计算旋转矩阵的转置（逆矩阵）。 Computes the transpose (inverse) of the rotation matrix.

Returns: 旋转矩阵的转置 / The transposed rotation matrix.

Definition at line 708 of file transform.hpp.

708{ return this->transpose(); }

◆ operator=() [1/4]

template<typename Scalar >

RotationMatrix & LibXR::RotationMatrix< Scalar >::operator= ( const Eigen::Matrix< Scalar, 3, 3 > & R )

inline

Definition at line 736 of file transform.hpp.

  {
    this->data()[0] = R.data()[0];
    this->data()[1] = R.data()[1];
    this->data()[2] = R.data()[2];
    this->data()[3] = R.data()[3];
    this->data()[4] = R.data()[4];
    this->data()[5] = R.data()[5];
    this->data()[6] = R.data()[6];
    this->data()[7] = R.data()[7];
    this->data()[8] = R.data()[8];
    return *this;
  }

◆ operator=() [2/4]

template<typename Scalar >

RotationMatrix & LibXR::RotationMatrix< Scalar >::operator= ( const Eigen::Quaternion< Scalar > & q )

inline

Definition at line 750 of file transform.hpp.

  {
    *this = q.toRotationMatrix();
    return *this;
  }

◆ operator=() [3/4]

template<typename Scalar >

RotationMatrix & LibXR::RotationMatrix< Scalar >::operator= ( const Quaternion< Scalar > & q )

inline

Definition at line 756 of file transform.hpp.

  {
    *this = q.ToRotationMatrix();
    return *this;
  }

◆ operator=() [4/4]

template<typename Scalar >

RotationMatrix & LibXR::RotationMatrix< Scalar >::operator= ( const RotationMatrix< Scalar > & R )

inline

赋值运算符，将 RotationMatrix 赋值给当前对象。 Overloaded assignment operator to assign a RotationMatrix to the current object.

Parameters

R	需要赋值的旋转矩阵 / The rotation matrix to be assigned.

Returns: 返回赋值后的 RotationMatrix 对象引用。 Returns a reference to the assigned RotationMatrix object.

Definition at line 719 of file transform.hpp.

  {
    if (this != &R)
    {
      this->data()[0] = R.data()[0];
      this->data()[1] = R.data()[1];
      this->data()[2] = R.data()[2];
      this->data()[3] = R.data()[3];
      this->data()[4] = R.data()[4];
      this->data()[5] = R.data()[5];
      this->data()[6] = R.data()[6];
      this->data()[7] = R.data()[7];
      this->data()[8] = R.data()[8];
    }
    return *this;
  }

◆ ToEulerAngle()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 1 > LibXR::RotationMatrix< Scalar >::ToEulerAngle ( ) const

inline

将旋转矩阵转换为欧拉角（默认使用 ZYX 顺序）。 Converts the rotation matrix to Euler angles (default ZYX order).

该方法调用 ToEulerAngleZYX() 方法，使用 ZYX（航向-俯仰-横滚）顺序转换欧拉角。 This method calls ToEulerAngleZYX(), converting to Euler angles in the ZYX (yaw-pitch-roll) order.

Returns: 三个欧拉角（roll, pitch, yaw） / The three Euler angles (roll, pitch, yaw).

Definition at line 805 of file transform.hpp.

805{ return ToEulerAngleZYX(); }

◆ ToEulerAngleXYZ()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 1 > LibXR::RotationMatrix< Scalar >::ToEulerAngleXYZ ( ) const

inline

Definition at line 862 of file transform.hpp.

  {
    const Eigen::Matrix<Scalar, 3, 3>& r = (*this);
 
    Scalar yaw = std::atan2(-r(0, 1), r(0, 0));
    Scalar pitch = std::asin(r(0, 2));
    Scalar roll = std::atan2(-r(1, 2), r(2, 2));
 
    return Eigen::Matrix<Scalar, 3, 1>(roll, pitch, yaw);
  }

◆ ToEulerAngleXZY()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 1 > LibXR::RotationMatrix< Scalar >::ToEulerAngleXZY ( ) const

inline

Definition at line 818 of file transform.hpp.

  {
    const Eigen::Matrix<Scalar, 3, 3>& r = (*this);
 
    Scalar roll = std::atan2(r(2, 1), r(1, 1));
    Scalar yaw = std::asin(-r(0, 1));
    Scalar pitch = std::atan2(r(0, 2), r(0, 0));
 
    return Eigen::Matrix<Scalar, 3, 1>(roll, pitch, yaw);
  }

◆ ToEulerAngleYXZ()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 1 > LibXR::RotationMatrix< Scalar >::ToEulerAngleYXZ ( ) const

inline

Definition at line 840 of file transform.hpp.

  {
    const Eigen::Matrix<Scalar, 3, 3>& r = (*this);
 
    Scalar pitch = std::atan2(r(0, 2), r(2, 2));
    Scalar roll = std::asin(-r(1, 2));
    Scalar yaw = std::atan2(r(1, 0), r(1, 1));
 
    return Eigen::Matrix<Scalar, 3, 1>(roll, pitch, yaw);
  }

◆ ToEulerAngleYZX()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 1 > LibXR::RotationMatrix< Scalar >::ToEulerAngleYZX ( ) const

inline

Definition at line 829 of file transform.hpp.

  {
    const Eigen::Matrix<Scalar, 3, 3>& r = (*this);
 
    Scalar pitch = std::atan2(-r(2, 0), r(0, 0));
    Scalar yaw = std::asin(r(1, 0));
    Scalar roll = std::atan2(-r(1, 2), r(1, 1));
 
    return Eigen::Matrix<Scalar, 3, 1>(roll, pitch, yaw);
  }

◆ ToEulerAngleZXY()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 1 > LibXR::RotationMatrix< Scalar >::ToEulerAngleZXY ( ) const

inline

Definition at line 851 of file transform.hpp.

  {
    const Eigen::Matrix<Scalar, 3, 3>& r = (*this);
 
    Scalar roll = std::asin(r(2, 1));
    Scalar yaw = std::atan2(-r(0, 1), r(1, 1));
    Scalar pitch = std::atan2(-r(2, 0), r(2, 2));
 
    return Eigen::Matrix<Scalar, 3, 1>(roll, pitch, yaw);
  }

◆ ToEulerAngleZYX()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 1 > LibXR::RotationMatrix< Scalar >::ToEulerAngleZYX ( ) const

inline

Definition at line 807 of file transform.hpp.

  {
    const Eigen::Matrix<Scalar, 3, 3>& r = (*this);
 
    Scalar roll = std::atan2(r(2, 1), r(2, 2));
    Scalar yaw = std::atan2(r(1, 0), r(0, 0));
    Scalar pitch = std::asin(-r(2, 0));
 
    return Eigen::Matrix<Scalar, 3, 1>(roll, pitch, yaw);
  }

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

src/utils/transform.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RotationMatrix() [1/7]

◆ RotationMatrix() [2/7]

◆ RotationMatrix() [3/7]

◆ RotationMatrix() [4/7]

◆ RotationMatrix() [5/7]

◆ RotationMatrix() [6/7]

◆ RotationMatrix() [7/7]

Member Function Documentation

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator-()

◆ operator=() [1/4]

◆ operator=() [2/4]

◆ operator=() [3/4]

◆ operator=() [4/4]

◆ ToEulerAngle()

◆ ToEulerAngleXYZ()

◆ ToEulerAngleXZY()

◆ ToEulerAngleYXZ()

◆ ToEulerAngleYZX()

◆ ToEulerAngleZXY()

◆ ToEulerAngleZYX()