Drake
Rotation Class Reference

A 3-dimensional rotation. More...

#include <drake/automotive/maliput/api/lane_data.h>

## Public Member Functions

Rotation ()
Default constructor, creating an identity Rotation. More...

const Quaternion< double > & quat () const
Provides a quaternion representation of the rotation. More...

void set_quat (const Quaternion< double > &quaternion)
Sets value from a Quaternion quaternion (which will be normalized). More...

Matrix3< doublematrix () const
Provides a rotation matrix representation of the rotation. More...

math::RollPitchYaw< doublerpy () const
Provides a representation of rotation as a vector of angles [roll, pitch, yaw] (in radians). More...

double roll () const
Returns the roll component of the Rotation (in radians). More...

double pitch () const
Returns the pitch component of the Rotation (in radians). More...

double yaw () const
Returns the yaw component of the Rotation (in radians). More...

Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
Rotation (const Rotation &)=default

Rotationoperator= (const Rotation &)=default

Rotation (Rotation &&)=default

Rotationoperator= (Rotation &&)=default

## Static Public Member Functions

static Rotation FromQuat (const Quaternion< double > &quaternion)
Constructs a Rotation from a quaternion quaternion (which will be normalized). More...

static Rotation FromRpy (const Vector3< double > &rpy)
Constructs a Rotation from rpy, a vector of [roll, pitch, yaw], expressing a roll around X, followed by pitch around Y, followed by yaw around Z (with all angles in radians). More...

static Rotation FromRpy (double roll, double pitch, double yaw)
Constructs a Rotation expressing a roll around X, followed by pitch around Y, followed by yaw around Z (with all angles in radians). More...

## Detailed Description

A 3-dimensional rotation.

## ◆ Rotation() [1/3]

 Rotation ( const Rotation & )
default

## ◆ Rotation() [2/3]

 Rotation ( Rotation && )
default

## ◆ Rotation() [3/3]

 Rotation ( )
inline

Default constructor, creating an identity Rotation.

## ◆ FromQuat()

 static Rotation FromQuat ( const Quaternion< double > & quaternion )
inlinestatic

Constructs a Rotation from a quaternion quaternion (which will be normalized).

## ◆ FromRpy() [1/2]

 static Rotation FromRpy ( const Vector3< double > & rpy )
inlinestatic

Constructs a Rotation from rpy, a vector of [roll, pitch, yaw], expressing a roll around X, followed by pitch around Y, followed by yaw around Z (with all angles in radians).

## ◆ FromRpy() [2/2]

 static Rotation FromRpy ( double roll, double pitch, double yaw )
inlinestatic

Constructs a Rotation expressing a roll around X, followed by pitch around Y, followed by yaw around Z (with all angles in radians).

## ◆ matrix()

 Matrix3 matrix ( ) const
inline

Provides a rotation matrix representation of the rotation.

## ◆ operator=() [1/2]

 Rotation& operator= ( Rotation && )
default

## ◆ operator=() [2/2]

 Rotation& operator= ( const Rotation & )
default

## ◆ pitch()

 double pitch ( ) const
inline

Returns the pitch component of the Rotation (in radians).

## ◆ quat()

 const Quaternion& quat ( ) const
inline

Provides a quaternion representation of the rotation.

## ◆ roll()

 double roll ( ) const
inline

Returns the roll component of the Rotation (in radians).

## ◆ rpy()

 math::RollPitchYaw rpy ( ) const
inline

Provides a representation of rotation as a vector of angles [roll, pitch, yaw] (in radians).

## ◆ set_quat()

 void set_quat ( const Quaternion< double > & quaternion )
inline

Sets value from a Quaternion quaternion (which will be normalized).

## ◆ yaw()

 double yaw ( ) const
inline

Returns the yaw component of the Rotation (in radians).

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