Rotation Class Reference

Detailed Description

A specification for an SO(3) rotation, to be used for serialization purposes, e.g., to define stochastic scenarios.

This structure specifies either one specific rotation or else a distribution of possible rotations. It does not provide mathematical operators to compose or mutate rotations. Instead, users should call either GetDeterministicValue() or ToSymbolic() to obtain a RotationMatrix value that can be operated on.

For an overview of configuring stochastic transforms, see Configuring transforms and Configuring distributions.

See Implementing Serialize for implementation details, especially the unusually public member fields.

#include <drake/common/schema/rotation.h>

Classes
struct	AngleAxis
	Rotation constructed from a fixed axis and an angle. More...
struct	Identity
	No-op rotation. More...
struct	Rpy
	A roll-pitch-yaw rotation, using the angle conventions of Drake's RollPitchYaw. More...
struct	Uniform
	Rotation sampled from a uniform distribution over SO(3). More...

Public Types
using	Variant = std::variant< Identity, Rpy, AngleAxis, Uniform >

Public Member Functions
	Rotation ()=default
	Constructs the Identity rotation. More...
	Rotation (const math::RotationMatrix< double > &)
	Constructs an Rpy rotation with the given value. More...
	Rotation (const math::RollPitchYaw< double > &)
	Constructs an Rpy rotation with the given value. More...
bool	IsDeterministic () const
	Returns true iff this is fully deterministic. More...
math::RotationMatrixd	GetDeterministicValue () const
	If this is deterministic, retrieves its value. More...
math::RotationMatrix< symbolic::Expression >	ToSymbolic () const
	Returns the symbolic form of this rotation. More...
math::RotationMatrixd	Sample (RandomGenerator *generator) const
	Samples this Rotation. More...
void	set_rpy_deg (const Eigen::Vector3d &rpy_deg)
	Sets this value to the given deterministic RPY, in degrees. More...
template<typename Archive >
void	Serialize (Archive *a)
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	Rotation (const Rotation &)=default
Rotation &	operator= (const Rotation &)=default
	Rotation (Rotation &&)=default
Rotation &	operator= (Rotation &&)=default

Public Attributes
Variant	value

Member Typedef Documentation

Variant

using Variant = std::variant<Identity, Rpy, AngleAxis, Uniform>

Constructor & Destructor Documentation

Rotation() [1/5]

Rotation ( const Rotation &  )

default

Rotation() [2/5]

Rotation ( Rotation &&  )

default

Rotation() [3/5]

Rotation ( )

default

Constructs the Identity rotation.

Rotation() [4/5]

Rotation ( const math::RotationMatrix< double > &  )

explicit

Constructs an Rpy rotation with the given value.

Rotation() [5/5]

Rotation ( const math::RollPitchYaw< double > &  )

explicit

Constructs an Rpy rotation with the given value.

Member Function Documentation

GetDeterministicValue()

math::RotationMatrixd GetDeterministicValue

(

)

const

If this is deterministic, retrieves its value.

Exceptions

std::exception

if this is not fully deterministic.

IsDeterministic()

bool IsDeterministic

(

)

const

Returns true iff this is fully deterministic.

operator=() [1/2]

Rotation& operator= ( Rotation &&  )

default

operator=() [2/2]

Rotation& operator= ( const Rotation &  )

default

Sample()

math::RotationMatrixd Sample

(

RandomGenerator *

generator

)

const

Samples this Rotation.

If this is deterministic, the result is the same as GetDeterministicValue.

Serialize()

void Serialize

(

Archive *

a

)

set_rpy_deg()

void set_rpy_deg

(

const Eigen::Vector3d &

rpy_deg

)

Sets this value to the given deterministic RPY, in degrees.

ToSymbolic()

math::RotationMatrix<symbolic::Expression> ToSymbolic

(

)

const

Returns the symbolic form of this rotation.

If this is deterministic, the result will contain no variables. If this is random, the result will contain one or more random variables, based on the distributions in use.

Member Data Documentation

value

Variant value

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

• drake/common/schema/rotation.h