Collection of static methods to perform geometric transformations.

Enumerations
enum class	coordinate_system { CARTESIAN , CYLINDRICAL , SPHERICAL , NONE }
	Lists available translational representations. More...

enum class	orientation_system { AXIS_ANGLE , AXIS_ANGLE_SCALED , RPY , EULER_YZ , EULER_ZYZ , POLAR_AZIMUTH , NONE }
	Lists available rotational representations. More...

enum class	angular_units { DEGREES , RADIANS }
	Lists recognized angular units. More...

Functions
bool	encodePose (const std::vector< double > &x_in, std::vector< double > &x_out, coordinate_system coord, orientation_system orient, angular_units angle=angular_units::RADIANS)
	Converts the translation and rotation values of a specific pose to coordinate_system::CARTESIAN and orientation_system::AXIS_ANGLE_SCALED systems.

bool	decodePose (const std::vector< double > &x_in, std::vector< double > &x_out, coordinate_system coord, orientation_system orient, angular_units angle=angular_units::RADIANS)
	Converts the translation and rotation values of a specific pose to the chosen representation systems.

bool	encodeVelocity (const std::vector< double > &x_in, const std::vector< double > &xdot_in, std::vector< double > &xdot_out, coordinate_system coord, orientation_system orient, angular_units angle=angular_units::RADIANS)
	Converts the translation and rotation values of a specific velocity to coordinate_system::CARTESIAN and orientation_system::AXIS_ANGLE_SCALED systems.

bool	decodeVelocity (const std::vector< double > &x_in, const std::vector< double > &xdot_in, std::vector< double > &xdot_out, coordinate_system coord, orientation_system orient, angular_units angle=angular_units::RADIANS)
	Converts the translation and rotation values of a specific velocity to the chosen representation systems.

bool	encodeAcceleration (const std::vector< double > &x_in, const std::vector< double > &xdot_in, const std::vector< double > &xdotdot_in, std::vector< double > &xdotdot_out, coordinate_system coord, orientation_system orient, angular_units angle=angular_units::RADIANS)
	Converts the translation and rotation values of a specific acceleration to coordinate_system::CARTESIAN and orientation_system::AXIS_ANGLE_SCALED systems.

bool	decodeAcceleration (const std::vector< double > &x_in, const std::vector< double > &xdot_in, const std::vector< double > &xdotdot_in, std::vector< double > &xdotdot_out, coordinate_system coord, orientation_system orient, angular_units angle=angular_units::RADIANS)
	Converts the translation and rotation values of a specific acceleration to the chosen representation systems.

double	degToRad (double deg)
	Converts degrees to radians.

double	radToDeg (double rad)
	Converts radians to degrees.

bool	parseEnumerator (const std::string &str, coordinate_system *coord, coordinate_system fallback=coordinate_system::CARTESIAN)
	Parses input string, returns matching enumerator value.

bool	parseEnumerator (const std::string &str, orientation_system *orient, orientation_system fallback=orientation_system::AXIS_ANGLE_SCALED)
	Parses input string, returns matching enumerator value.

bool	parseEnumerator (const std::string &str, angular_units *units, angular_units fallback=angular_units::RADIANS)
	Parses input string, returns matching enumerator value.

Enumeration Type Documentation

◆ angular_units

enum class roboticslab::KinRepresentation::angular_units

strong

Enumerator
DEGREES	degrees (deg)
RADIANS	radians (rad)

◆ coordinate_system

enum class roboticslab::KinRepresentation::coordinate_system

strong

Enumerator
CARTESIAN	(x distance, y distance, z distance)
CYLINDRICAL	(radial distance, azimuthal angle, height)
SPHERICAL	(radial distance, polar angle, azimuthal angle)
NONE	omit coordinate system in resulting combined coord+orient representation

◆ orientation_system

enum class roboticslab::KinRepresentation::orientation_system

strong

Enumerator
AXIS_ANGLE	(axis_x, axis_y, axis_z, rotation angle) [axis needs not to be normalized]
AXIS_ANGLE_SCALED	(axis_x, axis_y, axis_z) [axis' norm is the rotation angle]
RPY	fixed axes, roll is axis_x
EULER_YZ	as EULER_ZYZ, preceded by rotation about the azimuthal angle got from x-y coordinates
EULER_ZYZ	mobile axes
POLAR_AZIMUTH	(polar angle, azimuthal angle)
NONE	omit orientation system in resulting combined coord+orient representation

Function Documentation

◆ decodeAcceleration()

bool roboticslab::KinRepresentation::decodeAcceleration	(	const std::vector< double > &	x_in,
		const std::vector< double > &	xdot_in,
		const std::vector< double > &	xdotdot_in,
		std::vector< double > &	xdotdot_out,
		coordinate_system	coord,
		orientation_system	orient,
		angular_units	angle = `angular_units::RADIANS`
	)

Supports in-place transformation.

Parameters

x_in	Input vector describing a three-dimensional pose in coordinate_system::CARTESIAN and orientation_system::AXIS_ANGLE_SCALED systems.
xdot_in	Input vector describing a three-dimensional velocity in coordinate_system::CARTESIAN and orientation_system::AXIS_ANGLE_SCALED systems.
xdotdot_in	Input vector describing a three-dimensional acceleration in coordinate_system::CARTESIAN and orientation_system::AXIS_ANGLE_SCALED systems.
xdotdot_out	Output vector describing the same acceleration in the chosen representation system.
coord	Coordinate system for the translational part.
orient	Orientation system for the rotational part.
angle	Units in which angular values are expressed.

Returns: true on success, false otherwise.

◆ decodePose()

bool roboticslab::KinRepresentation::decodePose	(	const std::vector< double > &	x_in,
		std::vector< double > &	x_out,
		coordinate_system	coord,
		orientation_system	orient,
		angular_units	angle = `angular_units::RADIANS`
	)

Supports in-place transformation.

Parameters

x_in	Input vector describing a three-dimensional pose in coordinate_system::CARTESIAN and orientation_system::AXIS_ANGLE_SCALED systems.
x_out	Output vector describing the same pose in the chosen representation system.
coord	Coordinate system for the translational part.
orient	Orientation system for the rotational part.
angle	Units in which angular values are expressed.

Returns: true on success, false otherwise.

◆ decodeVelocity()

bool roboticslab::KinRepresentation::decodeVelocity	(	const std::vector< double > &	x_in,
		const std::vector< double > &	xdot_in,
		std::vector< double > &	xdot_out,
		coordinate_system	coord,
		orientation_system	orient,
		angular_units	angle = `angular_units::RADIANS`
	)

Supports in-place transformation.

Parameters

x_in	Input vector describing a three-dimensional pose in coordinate_system::CARTESIAN and orientation_system::AXIS_ANGLE_SCALED systems.
xdot_in	Input vector describing a three-dimensional velocity in coordinate_system::CARTESIAN and orientation_system::AXIS_ANGLE_SCALED systems.
xdot_out	Output vector describing the same velocity in the chosen representation system.
coord	Coordinate system for the translational part.
orient	Orientation system for the rotational part.
angle	Units in which angular values are expressed.

Returns: true on success, false otherwise.

◆ degToRad()

double roboticslab::KinRepresentation::degToRad ( double deg )

Parameters

deg	Angle value expressed in degrees.

Returns: Same value expressed in radians.

◆ encodeAcceleration()

bool roboticslab::KinRepresentation::encodeAcceleration	(	const std::vector< double > &	x_in,
		const std::vector< double > &	xdot_in,
		const std::vector< double > &	xdotdot_in,
		std::vector< double > &	xdotdot_out,
		coordinate_system	coord,
		orientation_system	orient,
		angular_units	angle = `angular_units::RADIANS`
	)

Supports in-place transformation.

Parameters

x_in	Input vector describing a three-dimensional pose (translation + rotation).
xdot_in	Input vector describing a three-dimensional velocity (translation + rotation).
xdotdot_in	Input vector describing a three-dimensional acceleration (translation + rotation).
xdotdot_out	Output vector describing the same acceleration in coordinate_system::CARTESIAN and orientation_system::AXIS_ANGLE_SCALED systems.
coord	Coordinate system for the translational part.
orient	Orientation system for the rotational part.
angle	Units in which angular values are expressed.

Returns: true on success, false otherwise.

◆ encodePose()

bool roboticslab::KinRepresentation::encodePose	(	const std::vector< double > &	x_in,
		std::vector< double > &	x_out,
		coordinate_system	coord,
		orientation_system	orient,
		angular_units	angle = `angular_units::RADIANS`
	)

Supports in-place transformation.

Parameters

x_in	Input vector describing a three-dimensional pose (translation + rotation).
x_out	Output vector describing the same pose in coordinate_system::CARTESIAN and orientation_system::AXIS_ANGLE_SCALED notation.
coord	Coordinate system for the translational part.
orient	Orientation system for the rotational part.
angle	Units in which angular values are expressed.

Returns: true on success, false otherwise.

◆ encodeVelocity()

bool roboticslab::KinRepresentation::encodeVelocity	(	const std::vector< double > &	x_in,
		const std::vector< double > &	xdot_in,
		std::vector< double > &	xdot_out,
		coordinate_system	coord,
		orientation_system	orient,
		angular_units	angle = `angular_units::RADIANS`
	)

Supports in-place transformation.

Parameters

x_in	Input vector describing a three-dimensional pose (translation + rotation).
xdot_in	Input vector describing a three-dimensional velocity (translation + rotation).
xdot_out	Output vector describing the same velocity in coordinate_system::CARTESIAN and orientation_system::AXIS_ANGLE_SCALED systems.
coord	Coordinate system for the translational part.
orient	Orientation system for the rotational part.
angle	Units in which angular values are expressed.

Returns: true on success, false otherwise.

◆ parseEnumerator() [1/3]

bool roboticslab::KinRepresentation::parseEnumerator	(	const std::string &	str,
		angular_units *	units,
		angular_units	fallback = `angular_units::RADIANS`
	)

Input string	Enum value
degrees	angular_units::DEGREES
radians	angular_units::RADIANS

Parameters

str	Input string.
units	See angular_units.
fallback	Default value if no match found.

Returns: true if match found, false otherwise

◆ parseEnumerator() [2/3]

bool roboticslab::KinRepresentation::parseEnumerator	(	const std::string &	str,
		coordinate_system *	coord,
		coordinate_system	fallback = `coordinate_system::CARTESIAN`
	)

Input string	Enum value
cartesian	coordinate_system::CARTESIAN
cylindrical	coordinate_system::CYLINDRICAL
spherical	coordinate_system::SPHERICAL
none	coordinate_system::NONE

Parameters

str	Input string.
coord	See coordinate_system.
fallback	Default value if no match found.

Returns: true if match found, false otherwise

◆ parseEnumerator() [3/3]

bool roboticslab::KinRepresentation::parseEnumerator	(	const std::string &	str,
		orientation_system *	orient,
		orientation_system	fallback = `orientation_system::AXIS_ANGLE_SCALED`
	)

Input string	Enum value
axisAngle	orientation_system::AXIS_ANGLE
axisAngleScaled	orientation_system::AXIS_ANGLE_SCALED
RPY	orientation_system::RPY
eulerYZ	orientation_system::EULER_YZ
eulerZYZ	orientation_system::EULER_ZYZ
polarAzimuth	orientation_system::POLAR_AZIMUTH
none	orientation_system::NONE

Parameters

str	Input string.
orient	See orientation_system.
fallback	Default value if no match found.

Returns: true if match found, false otherwise

◆ radToDeg()

double roboticslab::KinRepresentation::radToDeg ( double rad )

Parameters

rad	Angle value expressed in radians.

Returns: Same value expressed in degrees.

Enumerations

Functions

Enumeration Type Documentation

◆ angular_units

◆ coordinate_system

◆ orientation_system

Function Documentation

◆ decodeAcceleration()

◆ decodePose()

◆ decodeVelocity()

◆ degToRad()

◆ encodeAcceleration()

◆ encodePose()

◆ encodeVelocity()

◆ parseEnumerator() [1/3]

◆ parseEnumerator() [2/3]

◆ parseEnumerator() [3/3]

◆ radToDeg()