omni::geometry::EulerAngles Struct Reference

Mixin class for a zyx Euler Angle Rotation system. More...

#include <EulerAngles.h>

Collaboration diagram for omni::geometry::EulerAngles:

Public Member Functions
	EulerAngles ()
	Default constructor, all angles are zero. More...
	EulerAngles (Angle _yaw, Angle _pitch, Angle _roll)
	Constructor by values. More...
Angle &	yaw ()
	Reference to yaw angle (Angle in Z direction) More...
Angle const &	yaw () const
	Reference to yaw angle (Angle in Z direction, const version) More...
void	setYaw (Angle _yaw)
	Set yaw angle (Z direction angle) to new value. More...
Angle &	pitch ()
	Reference to pitch angle (Angle in Y direction) More...
Angle const &	pitch () const
	Reference to pitch angle (Angle in Y direction, const version) More...
void	setPitch (Angle _pitch)
	Set pitch angle (Y direction angle) to new value. More...
Angle &	roll ()
	Reference to roll angle (Angle in X direction) More...
Angle const &	roll () const
	Reference to roll angle (Angle in X direction) More...
void	setRoll (Angle _roll)
	Set roll angle (X direction angle) to new value. More...
QMatrix4x4	matrix () const
	Calculate the rotation matrix. More...

Static Public Member Functions
static QMatrix4x4	matrix (Angle _yaw, Angle _pitch, Angle _roll)
	Public Static function to get rotation matrix conveniently. More...

Private Attributes
Angle	yaw_
	Yaw Angle (Z direction) More...
Angle	pitch_
	Pitch Angle (Y direction) More...
Angle	roll_
	Roll Angle (X direction) More...

Friends
bool	operator== (EulerAngles const &, EulerAngles const &)
	Test for equality. More...

Detailed Description

Mixin class for a zyx Euler Angle Rotation system.

Constructor & Destructor Documentation

omni::geometry::EulerAngles::EulerAngles

(

)

Default constructor, all angles are zero.

                             :
      yaw_(0), pitch_(0), roll_(0)
    {}

omni::geometry::EulerAngles::EulerAngles	(	Angle	_yaw,
		Angle	_pitch,
		Angle	_roll
	)

Constructor by values.

                                                                  :
      yaw_(_yaw),
      pitch_(_pitch),
      roll_(_roll)
    {}

Member Function Documentation

QMatrix4x4 omni::geometry::EulerAngles::matrix ( Angle  _yaw, Angle  _pitch, Angle  _roll  )

static

Public Static function to get rotation matrix conveniently.

    {
      QMatrix4x4 _matrix;

      // Rotate ZYX
      _matrix.rotate(_yaw.degrees(), QVector3D(0.0, 0.0, 1.0));
      _matrix.rotate(_pitch.degrees(), QVector3D(0.0, 1.0, 0.0));
      _matrix.rotate(_roll.degrees(), QVector3D(1.0, 0.0, 0.0));
      return _matrix;
    }

QMatrix4x4 omni::geometry::EulerAngles::matrix

(

)

const

Calculate the rotation matrix.

    {
      return matrix(yaw_, pitch_, roll_);
    }

Angle & omni::geometry::EulerAngles::pitch

(

)

Reference to pitch angle (Angle in Y direction)

    {
      return pitch_;
    }

Angle const & omni::geometry::EulerAngles::pitch

(

)

const

Reference to pitch angle (Angle in Y direction, const version)

    {
      return pitch_;
    }

Angle & omni::geometry::EulerAngles::roll

(

)

Reference to roll angle (Angle in X direction)

    {
      return roll_;
    }

Angle const & omni::geometry::EulerAngles::roll

(

)

const

Reference to roll angle (Angle in X direction)

    {
      return roll_;
    }

void omni::geometry::EulerAngles::setPitch

(

Angle

_pitch

)

Set pitch angle (Y direction angle) to new value.

    {
      pitch_ = _pitch;
    }

void omni::geometry::EulerAngles::setRoll

(

Angle

_roll

)

Set roll angle (X direction angle) to new value.

    {
      roll_ = _roll;
    }

void omni::geometry::EulerAngles::setYaw

(

Angle

_yaw

)

Set yaw angle (Z direction angle) to new value.

    {
      yaw_ = _yaw;
    }

Angle & omni::geometry::EulerAngles::yaw

(

)

Reference to yaw angle (Angle in Z direction)

    {
      return yaw_;
    }

Angle const & omni::geometry::EulerAngles::yaw

(

)

const

Reference to yaw angle (Angle in Z direction, const version)

    {
      return yaw_;
    }

Friends And Related Function Documentation

bool operator== ( EulerAngles const &  _lhs, EulerAngles const &  _rhs  )

friend

Test for equality.

                                                                      {
      return
        OMNI_TEST_MEMBER_EQUAL(yaw_) &&
        OMNI_TEST_MEMBER_EQUAL(pitch_) &&
        OMNI_TEST_MEMBER_EQUAL(roll_);
    }

Field Documentation

Angle omni::geometry::EulerAngles::pitch_

private

Pitch Angle (Y direction)

Angle omni::geometry::EulerAngles::roll_

private

Roll Angle (X direction)

Angle omni::geometry::EulerAngles::yaw_

private

Yaw Angle (Z direction)

---

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

• include/omni/geometry/EulerAngles.h
• src/lib/geometry/EulerAngles.cpp