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release/4.3a0
Frank Dellaert 2012-06-18 14:03:43 +00:00
parent 1edcc8a53b
commit fdb94319bd
1 changed files with 7 additions and 21 deletions
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28
gtsam/geometry/Rot3.h
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@ -104,10 +104,10 @@ namespace gtsam {
/// Rotation around X axis as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis.
static Rot3 Rx(double t);
/// Rotation around X axis as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis.
/// Rotation around Y axis as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis.
static Rot3 Ry(double t);
/// Rotation around X axis as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis.
/// Rotation around Z axis as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis.
static Rot3 Rz(double t);
/// Rotations around Z, Y, then X axes as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis.
@ -119,31 +119,17 @@ namespace gtsam {
return RzRyRx(xyz(0), xyz(1), xyz(2));
}
/**
* Positive yaw is to right (as in aircraft heading).
* Tait-Bryan system from Spatial Reference Model (SRM) (x,y,z) = (roll,pitch,yaw)
* as described in http://www.sedris.org/wg8home/Documents/WG80462.pdf.
* Assumes vehicle coordinate frame X forward, Y right, Z down.
*/
/// Positive yaw is to right (as in aircraft heading). See ypr
static Rot3 yaw (double t) { return Rz(t); }
/**
* Positive pitch is up (increasing aircraft altitude).
* Tait-Bryan system from Spatial Reference Model (SRM) (x,y,z) = (roll,pitch,yaw)
* as described in http://www.sedris.org/wg8home/Documents/WG80462.pdf.
* Assumes vehicle coordinate frame X forward, Y right, Z down.
*/
/// Positive pitch is up (increasing aircraft altitude).See ypr
static Rot3 pitch(double t) { return Ry(t); }
/**
* Positive roll is to right (increasing yaw in aircraft).
* Tait-Bryan system from Spatial Reference Model (SRM) (x,y,z) = (roll,pitch,yaw)
* as described in http://www.sedris.org/wg8home/Documents/WG80462.pdf.
* Assumes vehicle coordinate frame X forward, Y right, Z down.
*/
//// Positive roll is to right (increasing yaw in aircraft).
static Rot3 roll (double t) { return Rx(t); }
/** Returns rotation nRb from body to nav frame.
/**
* Returns rotation nRb from body to nav frame.
* Positive yaw is to right (as in aircraft heading).
* Positive pitch is up (increasing aircraft altitude).
* Positive roll is to right (increasing yaw in aircraft).