EulerAngles

EulerAngles is a static storage container which stores a vectors of three double values representing Euler angles, their cosines and sines. It also stores the corresponding Euler convention.

The Euler conventions are set using the dedicated constants:

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enum EulerConvention{ 
  XZX, XYX, YXY, YZY, ZXZ, ZYZ, /* proper Euler angles*/
  XYZ, YZX, ZXY, XZY, ZYX, YXZ, /* Tait–Bryan angles*/
  NNN /*default convention -> convention not set*/};

and corresponding strings

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const std::vector<std::string>EulerConventionS{
  "XZX", "XYX", "YXY", "YZY", "ZXZ", "ZYZ", /* proper Euler angles*/
  "XYZ", "YZX", "ZXY", "XZY", "ZYX", "YXZ", /* Tait–Bryan angles*/
  "NNN" /*default convention -> convention not set*/};

The data inside of the EulerAngles container is manipulated using a number of dedicated methods:

Accessible storages

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std::array<double,3> Q;
Three Euler angles.

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std::array<double,3> CosQ;
Cosines of the stored Euler angles for faster computations.

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std::array<double,3> SinQ;
Sines of the stored Euler angles for faster computations.

Constructors

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EulerAngles();
Default constructor.

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EulerAngles(std::initializer_list<double> Angles,
           EulerConvention locConvention);
Constructor, initializes the Euler angles using initializer list and convention.

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EulerAngles(const EulerAngles& rhs);
Copy constructor. Initializes current container with the copy of the rhs.

Arithmetic and logic operations

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EulerAngles& operator=(const EulerAngles& rhs);

Assignment operator.

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EulerAngles  operator+(const EulerAngles& rhs) const;
Returns the sum of two Euler angles.

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EulerAngles  operator-(const EulerAngles& rhs) const;
Returns the difference of two Euler angles.

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EulerAngles& operator+=(const EulerAngles& rhs);
Adds rhs to the current Euler angles.

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EulerAngles& operator-=(const EulerAngles& rhs);
Subtracts rhs from the current Euler angles.

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EulerAngles  operator* (const double rhs) const;
Returns Euler angles multiplied by the specified factor.

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EulerAngles& operator*=(const double rhs);
Multiplies current Euler angles by the specified factor.

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bool operator==(const EulerAngles& rhs);
Comparison operator. Returns true if two EulerAngles are of the same convention and their values are within DBL_EPSILON from one another.

Data access and manipulation methods

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void set(const double q1, const double q2, const double q3,
         EulerConvention locConvention);
Sets Euler angles to the specified values following given convention.

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void setTrigonometricFunctions();
Sets internal sines and cosines of Euler angles for faster computations.

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void set_to_zero(void);
Sets Euler angles to zero.

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void set_convention(const EulerConvention locConvention);
Sets Euler angle convention.

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void set(dMatrix3x3 RotMatrix, EulerConvention locConvention);
Sets Euler angles form the rotation matrix using given convention.

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void set(Quaternion Quat, EulerConvention locConvention, const bool active = true);
Sets Euler angles from the quaternion using specified convention and type of rotation (active/passive).

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void set(dVector3 Axis, const double Angle);
Sets Euler angles from axis-angle entries.

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void add(const double q1, const double q2, const double q3);
Adds specified values to the corresponding Euler angles.

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EulerAngles get_degree(void) const;
Returns Euler angles in degrees.

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std::string get_convention(void) const;
Returns Euler angle convention.

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static EulerConvention to_EulerConvention(const std::string& s);
Converts Euler angles' convention string to the corresponding enum entry.

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dMatrix3x3 getRotationMatrix() const;
Returns rotation matrix corresponding to Euler angles.

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Quaternion getQuaternion(const bool Active = true) const;
Returns quaternion corresponding to Euler angles considering rotation type (active/passive).

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void getAxisAngle(dVector3& Axis, double& Angle);
Returns axis-angle representation of the stored Euler angles.

Read/write methods

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std::string print(void) const;
Returns formatted string containing Euler angles and corresponding convention.

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std::string print_degree(void) const;
Returns formatted string containing Euler angles and corresponding convention in degrees.

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std::string print_entire(void) const;
Returns formatted string containing full container content.

EulerAngles ​

Accessible storages ​

Constructors ​

Arithmetic and logic operations ​