carla::geom::RightHandedTransform Struct Reference

A rigid transform expressed in a right-handed frame: x forward, y left, z up (ROS REP-103 "FLU"), metres and degrees. More...

#include <RightHandedTransform.h>

Public Member Functions
std::array< float, 16 >	GetMatrix () const
	Row-major 4x4 pose matrix in the right-handed frame, R = Rz(yaw) * Ry(pitch) * Rx(roll) with the standard right-handed elementary matrices and location in the last column.
Quaternion	GetQuaternion () const
	Orientation as a right-handed (x, y, z, w) quaternion.
bool	operator!= (const RightHandedTransform &rhs) const
bool	operator== (const RightHandedTransform &rhs) const
	RightHandedTransform ()=default
constexpr	RightHandedTransform (const RightHandedVector3D &in_location)
constexpr	RightHandedTransform (const RightHandedVector3D &in_location, const RightHandedRotation &in_rotation)

Public Attributes
RightHandedVector3D	location
	Translation in the right-handed frame, metres.
RightHandedRotation	rotation
	Orientation in the right-handed frame: roll, pitch, yaw in degrees, right-hand rule, applied as intrinsic Z-Y-X.

Detailed Description

A rigid transform expressed in a right-handed frame: x forward, y left, z up (ROS REP-103 "FLU"), metres and degrees.

This is the explicit boundary type between CARLA's left-handed world and every right-handed consumer (ROS 2 / tf2, NVIDIA ClipGT rigs, scipy, Open3D, ...). Build one with Transform::ToRightHanded() and go back with Transform::FromRightHanded(); the handedness change then happens exactly once, here, instead of being sprinkled over call sites.

Relative to the corresponding Transform, with S = diag(1, -1, 1):

• location = (x, -y, z)
• rotation = (roll, -pitch, -yaw), intrinsic Z-Y-X, right-hand rule
• GetMatrix() == S * Transform::GetMatrix() * S (with the 4x4 S)

Example: Rotation(pitch=20, yaw=30, roll=10) maps to RightHandedRotation(roll=10, pitch=-20, yaw=-30).

See Docs/coordinate_conventions.md.

Definition at line 39 of file RightHandedTransform.h.

Constructor & Destructor Documentation

RightHandedTransform() [1/3]

carla::geom::RightHandedTransform::RightHandedTransform ( )

default

RightHandedTransform() [2/3]

constexpr carla::geom::RightHandedTransform::RightHandedTransform ( const RightHandedVector3D &  in_location, const RightHandedRotation &  in_rotation  )

inlineconstexpr

Definition at line 50 of file RightHandedTransform.h.

RightHandedTransform() [3/3]

constexpr carla::geom::RightHandedTransform::RightHandedTransform ( const RightHandedVector3D &  in_location )

inlineexplicitconstexpr

Definition at line 57 of file RightHandedTransform.h.

Member Function Documentation

GetMatrix()

std::array< float, 16 > carla::geom::RightHandedTransform::GetMatrix ( ) const

inline

Row-major 4x4 pose matrix in the right-handed frame, R = Rz(yaw) * Ry(pitch) * Rx(roll) with the standard right-handed elementary matrices and location in the last column.

Equal, element for element, to S * Transform::GetMatrix() * S with S = diag(1, -1, 1, 1) – the similarity transform that mirrors the Y axis. That identity is pinned by test_geom.cpp::right_handed_matrix_is_s_m_s.

Definition at line 77 of file RightHandedTransform.h.

References location, carla::geom::RightHandedRotation::pitch, carla::geom::RightHandedRotation::roll, rotation, carla::geom::Math::ToRadians(), carla::geom::RightHandedVector3D::x, carla::geom::RightHandedVector3D::y, carla::geom::RightHandedRotation::yaw, and carla::geom::RightHandedVector3D::z.

Referenced by TEST().

GetQuaternion()

Quaternion carla::geom::RightHandedTransform::GetQuaternion ( ) const

inline

Orientation as a right-handed (x, y, z, w) quaternion.

Identical to what ros2::TransformFromCarlaRotation publishes for the equivalent CARLA rotation (that helper orders the components (w, x, y, z)).

Definition at line 65 of file RightHandedTransform.h.

References rotation.

Referenced by TEST(), and TEST().

operator!=()

bool carla::geom::RightHandedTransform::operator!= ( const RightHandedTransform &  rhs ) const

inline

Definition at line 99 of file RightHandedTransform.h.

operator==()

bool carla::geom::RightHandedTransform::operator== ( const RightHandedTransform &  rhs ) const

inline

Definition at line 92 of file RightHandedTransform.h.

References location, rotation, carla::geom::RightHandedVector3D::x, carla::geom::RightHandedVector3D::y, and carla::geom::RightHandedVector3D::z.

Member Data Documentation

location

RightHandedVector3D carla::geom::RightHandedTransform::location

Translation in the right-handed frame, metres.

Definition at line 42 of file RightHandedTransform.h.

Referenced by carla::geom::Transform::FromRightHanded(), GetMatrix(), operator==(), TEST(), and TEST().

rotation

RightHandedRotation carla::geom::RightHandedTransform::rotation

Orientation in the right-handed frame: roll, pitch, yaw in degrees, right-hand rule, applied as intrinsic Z-Y-X.

Definition at line 46 of file RightHandedTransform.h.

Referenced by carla::geom::Transform::FromRightHanded(), GetMatrix(), GetQuaternion(), operator==(), and TEST().

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

• RightHandedTransform.h