inet::EulerAngles Class Reference

Orientations are represented by 3D double precision Tait-Bryan (Euler) tuples called EulerAngles. More...

#include <EulerAngles.h>

Public Member Functions
	EulerAngles ()
	EulerAngles (rad alpha, rad beta, rad gamma)
rad	getAlpha () const
void	setAlpha (rad alpha)
rad	getBeta () const
void	setBeta (rad beta)
rad	getGamma () const
void	setGamma (rad gamma)
std::string	str () const
bool	isNil () const
bool	isUnspecified () const
EulerAngles &	normalize ()
EulerAngles	operator+ (const EulerAngles a) const
EulerAngles	operator- (const EulerAngles a) const
EulerAngles	operator* (double f) const

Public Attributes
rad	alpha
rad	beta
rad	gamma

Static Public Attributes
static const EulerAngles	ZERO = EulerAngles(rad(0.0), rad(0.0), rad(0.0))
static const EulerAngles	NIL = EulerAngles(rad(NaN), rad(NaN), rad(NaN))

Private Member Functions
void	copy (const EulerAngles &other)

Detailed Description

Orientations are represented by 3D double precision Tait-Bryan (Euler) tuples called EulerAngles.

The angles are in Z, Y', X" order that is often called intrinsic rotations, they are measured in radians. The default (unrotated) orientation is along the X axis. Conceptually, the Z axis rotation is heading, the Y' axis rotation is descending (negative elevation), the X" axis rotation is bank. For example, positive rotation along the Z axis rotates X into Y (turns left), positive rotation along the Y axis rotates Z into X (leans forward), positive rotation along the X axis rotates Y into Z (leans right).

Constructor & Destructor Documentation

EulerAngles() [1/2]

inet::EulerAngles::EulerAngles ( )

inline

        : alpha(0.0), beta(0.0), gamma(0.0) {}

EulerAngles() [2/2]

inet::EulerAngles::EulerAngles ( rad  alpha, rad  beta, rad  gamma  )

inline

        : alpha(alpha), beta(beta), gamma(gamma) {}

Member Function Documentation

copy()

void inet::EulerAngles::copy ( const EulerAngles &  other )

inlineprivate

{ alpha = other.alpha; beta = other.beta; gamma = other.gamma; }

getAlpha()

rad inet::EulerAngles::getAlpha ( ) const

inline

{ return alpha; }

getBeta()

rad inet::EulerAngles::getBeta ( ) const

inline

{ return beta; }

getGamma()

rad inet::EulerAngles::getGamma ( ) const

inline

{ return gamma; }

isNil()

bool inet::EulerAngles::isNil ( ) const

inline

    {
        return this == &NIL;
    }

isUnspecified()

bool inet::EulerAngles::isUnspecified ( ) const

inline

    {
        return std::isnan(alpha.get()) && std::isnan(beta.get()) && std::isnan(gamma.get());
    }

normalize()

EulerAngles& inet::EulerAngles::normalize ( )

inline

    {
        alpha = rad(math::modulo(alpha.get(), 2 * M_PI));
        beta = rad(math::modulo(beta.get(), 2 * M_PI));
        gamma = rad(math::modulo(gamma.get(), 2 * M_PI));
        return *this;
    }

Referenced by inet::visualizer::RadioCanvasVisualizer::refreshAntennaLobe(), and inet::Quaternion::toEulerAngles().

operator*()

EulerAngles inet::EulerAngles::operator* ( double  f ) const

inline

{ return EulerAngles(alpha * f, beta * f, gamma * f); }

operator+()

EulerAngles inet::EulerAngles::operator+ ( const EulerAngles  a ) const

inline

{ return EulerAngles(alpha + a.alpha, beta + a.beta, gamma + a.gamma); }

operator-()

EulerAngles inet::EulerAngles::operator- ( const EulerAngles  a ) const

inline

{ return EulerAngles(alpha - a.alpha, beta - a.beta, gamma - a.gamma); }

setAlpha()

void inet::EulerAngles::setAlpha ( rad  alpha )

inline

{ this->alpha = alpha; }

setBeta()

void inet::EulerAngles::setBeta ( rad  beta )

inline

{ this->beta = beta; }

setGamma()

void inet::EulerAngles::setGamma ( rad  gamma )

inline

{ this->gamma = gamma; }

str()

std::string inet::EulerAngles::str ( ) const

inline

{
    std::stringstream os;
    os << *this;
    return os.str();
}

Member Data Documentation

alpha

rad inet::EulerAngles::alpha

Referenced by copy(), operator+(), operator-(), inet::operator<<(), inet::Quaternion::Quaternion(), inet::visualizer::RadioCanvasVisualizer::refreshAntennaLobe(), and inet::Quaternion::toEulerAngles().

beta

rad inet::EulerAngles::beta

Referenced by copy(), operator+(), operator-(), inet::operator<<(), inet::Quaternion::Quaternion(), inet::visualizer::RadioCanvasVisualizer::refreshAntennaLobe(), and inet::Quaternion::toEulerAngles().

gamma

rad inet::EulerAngles::gamma

Referenced by copy(), operator+(), operator-(), inet::operator<<(), inet::Quaternion::Quaternion(), and inet::Quaternion::toEulerAngles().

NIL

const EulerAngles inet::EulerAngles::NIL = EulerAngles(rad(NaN), rad(NaN), rad(NaN))

static

ZERO

const EulerAngles inet::EulerAngles::ZERO = EulerAngles(rad(0.0), rad(0.0), rad(0.0))

static

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

• EulerAngles.h
• EulerAngles.cc