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OSCAR::Orientation Class Reference
[Math]

Represents a 3 long vector whose elements hold the spatial orientation. More...

#include <Orientation.h>

Inheritance diagram for OSCAR::Orientation:

[legend]List of all members.


Public Types
enum	OrientationType { FixedXYZ, EulerXYZ, EulerZYZ }
Public Methods
	Orientation ()
	Orientation (OrientationType oType)
	Orientation (double o1, double o2, double o3, OrientationType oType=FixedXYZ)
	Orientation (double *array, OrientationType oType=FixedXYZ)
	Orientation (const Orientation &rhs)
virtual	~Orientation ()
double &	O1 ()
double &	O2 ()
double &	O3 ()
double	GetO1 () const
double	GetO2 () const
double	GetO3 () const
OrientationType	GetOrientationType (void) const
bool	SetOrientationType (OrientationType oType)
bool	ConvertType (OrientationType oType)
bool	Get (HandPose &hp) const
bool	Get (Rot3by3 &R) const
bool	Get (Xform &X) const
bool	Get (SpatialXform &S) const
bool	Get (Quaternion &q) const
bool	Get (Vector3 &axis, double &angle, AngleUnits angUnits=Radians) const
bool	Set (const HandPose &hp)
bool	Set (const Rot3by3 &R)
bool	Set (const Xform &X)
bool	Set (const Quaternion &q)
bool	Set (const SpatialXform &S)
bool	Set (const Vector3 &axis, double angle, AngleUnits angUnits=Radians)
bool	Subtract (const Orientation &with, Orientation &result) const
Orientation	operator- (const Orientation &rhs) const
Orientation &	operator= (const Orientation &rhs)
Orientation &	operator= (const Vector &rhs)
Orientation &	operator() (double ox, double oy, double oz)
Protected Methods
bool	eulerXYZToRot3by3 (Rot3by3 &_hand) const
bool	eulerZYZToRot3by3 (Rot3by3 &_hand) const
bool	fixedXYZToRot3by3 (Rot3by3 &_hand) const
void	init (OrientationType type, const double *array=0)
Protected Attributes
OrientationType	oType

Detailed Description

Author:: Chetan Kapoor

Represents a 3 long vector whose elements hold the spatial orientation that can be expressed in terms of various FIXED and EULER angles. Use objects of this class to provide a vector based input form for end effector orientation. The orientation is expressed by specifying the OrientationType whose possible values are FixedXYZ, EulerXYZ, and EulerZYZ. Various methods are provided that will Get/Set different position orientation objects from a HandPose.

Member Enumeration Documentation

enum OSCAR::Orientation::OrientationType

Enumeration OrientationType.

Enumeration values:

FixedXYZ

EulerXYZ

EulerZYZ

Constructor & Destructor Documentation

OSCAR::Orientation::Orientation ( )

Contructor.
Constructs an Orientation object with default orientation (FixedXYZ) and initalizes elements to 0.

OSCAR::Orientation::Orientation ( OrientationType oType )

Contructor.
Constructs an Orientation object with a specified orientation and initalizes elements to 0.
Parameters:

oType Specifies the type of orientation, defaults to FixedXYZ.

OSCAR::Orientation::Orientation ( double o1,

double o2,

double o3,

OrientationType oType = FixedXYZ

)

Constructor.
Constructs an Orientation object with specified inital values and orientation type.
Parameters:

o1 Initial value (radians) for the first orientation coordinate (element 0)

o2 Initial value (radians) for the first orientation coordinate (element 1)

o3 Initial value (radians) for the first orientation coordinate (element 2)

oType Specifies the type of orientation, defaults to FixedXYZ.

OSCAR::Orientation::Orientation ( double * array,

OrientationType oType = FixedXYZ

)

Constructor.
Constructs an Orientation object, initialze elements from an array of doubles, and sets desired orientation type. Undefined behavior for arrays less than three elements.
Parameters:

array Pointer to an array of size 3. The values in this array will be used to initialize the Orientation.

oType Specifies the type of orientation, defaults to FixedXYZ.

OSCAR::Orientation::Orientation ( const Orientation & rhs )

Copy Constructor.
Constructs an Orientation object from an existing Orientation object.
Parameters:

rhs An Orientation object that will be used to initialize this new object.

virtual OSCAR::Orientation::~Orientation ( ) [virtual]

Virtual Destructor.
This is the Destructor for an object of type Orientation.

Member Function Documentation

bool OSCAR::Orientation::ConvertType ( OrientationType oType )

Change the orientation type of an Orientation object.
This method is used to change the orientation type of an Orientation object and convert the orientation values of the Orientation to a different orientation type.
Parameters:

oType The orientation type to convert to.

Returns:
True if the method succeeds, and false otherwise if the oType is not supported, or if there was a singularity during the conversion.

bool OSCAR::Orientation::eulerXYZToRot3by3 ( Rot3by3 & _hand ) const [protected]

bool OSCAR::Orientation::eulerZYZToRot3by3 ( Rot3by3 & _hand ) const [protected]

bool OSCAR::Orientation::fixedXYZToRot3by3 ( Rot3by3 & _hand ) const [protected]

bool OSCAR::Orientation::Get ( Vector3 & axis,

double & angle,

AngleUnits angUnits = Radians

) const

Get an Equivalent Axis representation from an Orientation object.
This method is used to get an equivalent axis representation from an Orientation object.
Parameters:

axis On return, axis contains the axis.

angle On return, angle contains the angle.

angUnits Use this to pass in information whether the specified angle is in degrees or radians. The default is Radians. AngleUnits is an enum whose possible values are Degrees and Radians.

Returns:
True if the method succeeds, and false otherwise.

bool OSCAR::Orientation::Get ( Quaternion & q ) const

Get the quaternion representing the orientation of the source frame w.r.t the destination frame.
This method is used to get a copy of the equivalent 4 by 1 quaternion representing the Orientation object.
Parameters:

q On return, q contains the values of the four elements of the equivalent Quaternion.

Returns:
True if the method succeeds. False otherwise.

bool OSCAR::Orientation::Get ( SpatialXform & S ) const

Get an SpatialXform representation from an Orientation object.
This method is used to get an equivalent SpatialXform object from an Orientation object.
Parameters:

S On return, S contains a reference to the equivalent SpatialXform..

Returns:
True if the method succeeds, and false otherwise.

bool OSCAR::Orientation::Get ( Xform & X ) const

Get the 4 by 4 transformation matrix from an Orientation object.
This method is used to get the 4 by 4 transformation matrix from an Orientation object.
Parameters:

X On return, X contains a reference to the 4 by 4 transformation matrix which stores the equivalent Xform.

Returns:
True always.

bool OSCAR::Orientation::Get ( Rot3by3 & R ) const

Get the 3 by 3 rotation matrix part from an Orientation object.
This method is used to get the 3 by 3 rotation matrix from an Orientation object.
Parameters:

R On return, R contains a reference to the extracted rotation matrix.

Returns:
True always.

bool OSCAR::Orientation::Get ( HandPose & hp ) const

Get the handpose from an Orientation object.
This method is used to get the equivalent handpose from an Orientation object.
Parameters:

hp A reference to the 6 by 1 HandPose which stores the handpose representation.

Returns:
True if the method succeeds. False otherwise.

double OSCAR::Orientation::GetO1 ( ) const

Get the value of the first element of an Orientation object.
This method is used to get the value of the first element of an Orientation object.
Returns:
A copy of the first element.

double OSCAR::Orientation::GetO2 ( ) const

Get the value of the second element of an Orientation object.
This method is used to get the value of the second element of an Orientation object.
Returns:
A copy of the second element.

double OSCAR::Orientation::GetO3 ( ) const

Get the value of the third element of an Orientation object.
This method is used to get the value of the third element of an Orientation object.
Returns:
A copy of the third element.

OrientationType OSCAR::Orientation::GetOrientationType ( void ) const

Get the orientation type of an Orientation object.
This method is used to get the orientation type of an Orientation object.
Returns:
The orientation type.

void OSCAR::Orientation::init ( OrientationType type,

const double * array = 0

) [protected]

double& OSCAR::Orientation::O1 ( )

Get a reference to the first element of an Orientation object.
This method is used to get a reference to the first element of an Orientation object.
Returns:
A reference to the first element.

double& OSCAR::Orientation::O2 ( )

Get a reference to the second element of an Orientation object.
This method is used to get a reference to the second element of an Orientation object.
Returns:
A reference to the second element.

double& OSCAR::Orientation::O3 ( )

Get a reference to the third element of an Orientation object.
This method is used to get a reference to the third element of an Orientation object.
Returns:
A reference to the third element.

Orientation& OSCAR::Orientation::operator() ( double ox,

double oy,

double oz

)

Set the first three elements of the Orientation object.
This method is used to set the first three elements of the Orientation object.
Parameters:

ox Set the first element of the Orientation to this.

oy Set the second element of the Orientation to this.

oz Set the third element of the Orientation to this.

Returns:
A reference to itself.

Orientation OSCAR::Orientation::operator- ( const Orientation & rhs ) const

Overloaded operator-.
This overloaded operator- subtracts an Orientation object from the calling Orientation object.
Parameters:

rhs An Orientation object to subtract from the calling Orientation object.

Returns:
The resulting Orientation object.

Orientation& OSCAR::Orientation::operator= ( const Vector & rhs )

Assignment Operator.
This is the Assignment Operator for an object of type Orientation.
Parameters:

rhs A Vector object that goes on the right hand side of the = operator

Returns:
A reference to the object on the left hand side of the = operator

Orientation& OSCAR::Orientation::operator= ( const Orientation & rhs )

Assignment Operator.
This is the Assignment Operator for an object of type Orientation.
Parameters:

rhs A Orientation object that goes on the right hand side of the = operator

Returns:
A reference to the object on the left hand side of the = operator

bool OSCAR::Orientation::Set ( const Vector3 & axis,

double angle,

AngleUnits angUnits = Radians

)

Set an Orientation object based on an equivalent axis representation.
This method is used to set an Orientation object based on an equivalent axis representation.
Parameters:

axis The axis specifies the unit vector in space that represents an equivalent axis

angle This contains the angle of rotation for axis.

angUnits Use this to pass in information whether the specified angle is in degrees or radians. The default is Radians. AngleUnits is an enum whose possible values are Degrees and Radians.

Returns:
True if the method succeeds, and false otherwise.

bool OSCAR::Orientation::Set ( const SpatialXform & S )

Set an Orientation object based on an SpatialXform object.
This method is used to set an Orientation object based on the rotational elements of an SpatialXform.
Parameters:

S This argument is used to set the values of the orientation part.

Returns:
True if the method succeeds, and false otherwise.

bool OSCAR::Orientation::Set ( const Quaternion & q )

Set the orientation part of the Orientation based on a Quaternion object.
This method is used to set the orientation part of the Orientation based on a Quaternion object.
Parameters:

q An Quaternion object which will be used to set the Orientation.

Returns:
True if the method succeeds. False otherwise.

bool OSCAR::Orientation::Set ( const Xform & X )

Set the Orientation based on a homogenous transformation matrix.
This method is used to set the Orientation based on a homogenous tranformation matrix.
Parameters:

X An Xform object which will be used to set the Orientation object.

Returns:
True if the method succeeds. False otherwise.

bool OSCAR::Orientation::Set ( const Rot3by3 & R )

Set the rotation matrix of an Orientation object.
This method is used to set the orientation part of the Orientation object based on the rotation matrix passed as argument .
Parameters:

R The orientation part of the Orientation is set to this.

Returns:
True if the method succeeds. False otherwise.

bool OSCAR::Orientation::Set ( const HandPose & hp )

Set the Orientation based on a handpose.
This method is used to set the Orientation based on a handpose.
Parameters:

hp An HandPose object which will be used to set the SpatialXform.

Returns:
True if the method succeeds. False otherwise.

bool OSCAR::Orientation::SetOrientationType ( OrientationType oType )

Set the orientation type of an Orientation object.
This method is used to set the orientation type of an Orientation object. This method does not transform the orientation values.
Parameters:

oType: The orientation type you want to set the Orientation to.

Returns:
True if the method succeeds, and false otherwise if the oType is not supported.

bool OSCAR::Orientation::Subtract ( const Orientation & with,

Orientation & result

) const

Subtract an Orientation object from the calling Orientation object.
This method subtracts an Orientation object from the calling Orientation object.
Parameters:

with An Orientation object to subtract from the calling Orientation object.

result On return, result contains the resulting Orientation object.

Member Data Documentation

OrientationType OSCAR::Orientation::oType [protected]

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

Orientation.h

OSCAR::Orientation Class Reference [Math]

Public Types

Public Methods