carla::geom::RightHandedRotation Struct Reference

Euler angles of a rotation expressed in a right-handed frame, in degrees. More...

#include <RightHandedRotation.h>

Public Member Functions
constexpr bool	operator!= (const RightHandedRotation &rhs) const
constexpr bool	operator== (const RightHandedRotation &rhs) const
	RightHandedRotation ()=default
constexpr	RightHandedRotation (float in_roll, float in_pitch, float in_yaw)

Public Attributes
float	pitch = 0.0f
	Rotation about the left (+Y) axis, degrees, right-hand rule.
float	roll = 0.0f
	Rotation about the forward (+X) axis, degrees, right-hand rule.
float	yaw = 0.0f
	Rotation about the up (+Z) axis, degrees, right-hand rule.

Detailed Description

Euler angles of a rotation expressed in a right-handed frame, in degrees.

This is the boundary type for ROS / REP-103 "FLU" consumers: x forward, y left, z up, every axis turned by the right-hand rule.

The three angles compose as the usual intrinsic Z-Y-X (yaw, then pitch, then roll) sequence, i.e. R = Rz(yaw) * Ry(pitch) * Rx(roll) with the standard right-handed elementary matrices. That is exactly what scipy.spatial.transform.Rotation.from_euler("xyz", ...), tf2::Quaternion::setRPY and NVIDIA's ClipGT rig.json all mean by "roll pitch yaw".

This is not carla::geom::Rotation. CARLA's frame is left-handed (x forward, y right, z up) and its rotator has mixed signs; the exact mapping is

right_handed.roll  =  carla.roll
right_handed.pitch = -carla.pitch
right_handed.yaw   = -carla.yaw

which is its own inverse. Use Rotation::ToRightHanded() / Rotation::FromRightHanded() rather than flipping signs by hand, and see Docs/coordinate_conventions.md.

Definition at line 34 of file RightHandedRotation.h.

Constructor & Destructor Documentation

RightHandedRotation() [1/2]

carla::geom::RightHandedRotation::RightHandedRotation ( )

default

RightHandedRotation() [2/2]

constexpr carla::geom::RightHandedRotation::RightHandedRotation ( float  in_roll, float  in_pitch, float  in_yaw  )

inlineconstexpr

Definition at line 47 of file RightHandedRotation.h.

Member Function Documentation

operator!=()

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

inlineconstexpr

Definition at line 57 of file RightHandedRotation.h.

operator==()

constexpr bool carla::geom::RightHandedRotation::operator== ( const RightHandedRotation &  rhs ) const

inlineconstexpr

Definition at line 53 of file RightHandedRotation.h.

References pitch, roll, and yaw.

Member Data Documentation

pitch

float carla::geom::RightHandedRotation::pitch = 0.0f

Rotation about the left (+Y) axis, degrees, right-hand rule.

Definition at line 40 of file RightHandedRotation.h.

Referenced by carla::geom::Rotation::FromRightHanded(), carla::geom::RightHandedTransform::GetMatrix(), operator==(), carla::geom::Quaternion::Quaternion(), TEST(), TEST(), and TEST().

roll

float carla::geom::RightHandedRotation::roll = 0.0f

Rotation about the forward (+X) axis, degrees, right-hand rule.

Definition at line 37 of file RightHandedRotation.h.

Referenced by carla::geom::Rotation::FromRightHanded(), carla::geom::RightHandedTransform::GetMatrix(), operator==(), carla::geom::Quaternion::Quaternion(), TEST(), TEST(), and TEST().

yaw

float carla::geom::RightHandedRotation::yaw = 0.0f

Rotation about the up (+Z) axis, degrees, right-hand rule.

Definition at line 43 of file RightHandedRotation.h.

Referenced by carla::geom::Rotation::FromRightHanded(), carla::geom::RightHandedTransform::GetMatrix(), operator==(), carla::geom::Quaternion::Quaternion(), TEST(), TEST(), and TEST().

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

• RightHandedRotation.h