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release/4.3a0
Frank Dellaert 2011-12-28 16:42:45 +00:00
parent a2ace4a434
commit f30a03b68f
1 changed files with 8 additions and 1 deletions
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9
gtsam/geometry/Rot3M.h
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@ -48,7 +48,12 @@ namespace gtsam {
r2_(Point3(0.0,1.0,0.0)),
r3_(Point3(0.0,0.0,1.0)) {}
/** constructor from columns */
/**
* Constructor from columns
* @param r1 X-axis of rotated frame
* @param r2 Y-axis of rotated frame
* @param r3 Z-axis of rotated frame
*/
Rot3M(const Point3& r1, const Point3& r2, const Point3& r3) :
r1_(r1), r2_(r2), r3_(r3) {}
@ -100,6 +105,8 @@ namespace gtsam {
static Rot3M yaw (double t) { return Rz(t);} // positive yaw is to right (as in aircraft heading)
static Rot3M pitch(double t) { return Ry(t);} // positive pitch is up (increasing aircraft altitude)
static Rot3M roll (double t) { return Rx(t);} // positive roll is to right (increasing yaw in aircraft)
/// Returns rotation matrix nRb from body to nav frame
static Rot3M ypr (double y, double p, double r) { return RzRyRx(r,p,y);}
/** Create from Quaternion parameters */