Euler angles of a rotation in CARLA's / Unreal's left-handed frame: x forward, y right, z up, degrees. More...

#include <Rotation.h>

Public Member Functions
Vector3D	GetForwardVector () const

Vector3D	GetRightVector () const

Vector3D	GetUpVector () const

void	InverseRotateVector (Vector3D &in_point) const

	MSGPACK_DEFINE_ARRAY (pitch, yaw, roll)

Rotation	Normalize () const

	operator FRotator () const

bool	operator!= (const Rotation &rhs) const

Rotation	operator+ (const Rotation &rhs) const

Rotation &	operator+= (const Rotation &rhs)

Rotation	operator- (const Rotation &rhs) const

Rotation &	operator-= (const Rotation &rhs)

bool	operator== (const Rotation &rhs) const

Vector3D	RotateVector (const Vector3D &in_point) const

void	RotateVector (Vector3D &in_point) const

	Rotation ()=default

	Rotation (const FRotator &rotator)

constexpr	Rotation (float p, float y, float r)

constexpr RightHandedRotation	ToRightHanded () const
	This rotation expressed in a right-handed, x-forward / y-left / z-up frame (ROS REP-103 "FLU"), as intrinsic Z-Y-X Euler angles under the right-hand rule.

Static Public Member Functions
static constexpr Rotation	FromRightHanded (const RightHandedRotation &rhs)
	Inverse of `ToRightHanded()`.

Public Attributes
float	pitch = 0.0f

float	roll = 0.0f

float	yaw = 0.0f

Detailed Description

Euler angles of a rotation in CARLA's / Unreal's left-handed frame: x forward, y right, z up, degrees.

The three angles compose as R = Rz(+yaw) * Ry(-pitch) * Rx(-roll) with the standard (right-handed) elementary matrices, which is the same thing as saying:

+yaw turns the nose to the right;
+pitch tilts the nose up -> forward.z = +sin(pitch);
+roll drops the right side -> right.z = -cos(pitch)*sin(roll).

This is CARLA 0.9.x's documented convention and it is what the engine builds from the same FRotator, verified against rendered camera frames on UE5.8. RotateVector, Transform::GetMatrix and Math::Get{Forward,Right,Up}Vector all live in this frame and must not be "corrected" towards a right-handed convention.

For ROS / REP-103 consumers convert explicitly at the boundary with ToRightHanded() / FromRightHanded(); see RightHandedRotation and Docs/coordinate_conventions.md.

Definition at line 45 of file Rotation.h.

Constructor & Destructor Documentation

◆ Rotation() [1/3]

carla::geom::Rotation::Rotation ( )

default

Referenced by FromRightHanded(), and Normalize().

◆ Rotation() [2/3]

constexpr carla::geom::Rotation::Rotation	(	float	p,
		float	y,
		float	r
	)

inlineconstexpr

Definition at line 66 of file Rotation.h.

◆ Rotation() [3/3]

carla::geom::Rotation::Rotation ( const FRotator & rotator )

inline

Definition at line 271 of file Rotation.h.

Member Function Documentation

◆ FromRightHanded()

static constexpr Rotation carla::geom::Rotation::FromRightHanded ( const RightHandedRotation & rhs )

inlinestaticconstexpr

Inverse of ToRightHanded().

The mapping is an involution, so the same three sign flips apply in both directions.

Definition at line 212 of file Rotation.h.

References carla::geom::RightHandedRotation::pitch, carla::geom::RightHandedRotation::roll, Rotation(), and carla::geom::RightHandedRotation::yaw.

Referenced by carla::geom::Transform::FromRightHanded(), carla::geom::Quaternion::Rotator(), and TEST().

◆ GetForwardVector()

Vector3D carla::geom::Rotation::GetForwardVector ( ) const

inline

Definition at line 75 of file Rotation.h.

References carla::geom::Math::GetForwardVector().

Referenced by carla::road::Map::GetAllCrosswalkZones(), carla::geom::Transform::GetForwardVector(), URoadMap::SetPixelAt(), TEST(), and AProceduralBuilding::UpdateTransformPositionToNextChunk().

◆ GetRightVector()

Vector3D carla::geom::Rotation::GetRightVector ( ) const

inline

Definition at line 79 of file Rotation.h.

References carla::geom::Math::GetRightVector().

Referenced by carla::geom::Transform::GetRightVector(), and AProceduralBuilding::UpdateTransformPositionToNextSide().

◆ GetUpVector()

Vector3D carla::geom::Rotation::GetUpVector ( ) const

inline

Definition at line 83 of file Rotation.h.

References carla::geom::Math::GetUpVector().

Referenced by ACarlaGameModeBase::DebugShowSignals(), and carla::geom::Transform::GetUpVector().

◆ InverseRotateVector()

void carla::geom::Rotation::InverseRotateVector ( Vector3D & in_point ) const

inline

Definition at line 131 of file Rotation.h.

References pitch, roll, carla::geom::Math::ToRadians(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, yaw, and carla::geom::Vector3D::z.

Referenced by carla::rss::RssCheck::GetSpeed(), and carla::geom::Transform::InverseTransformPoint().

◆ MSGPACK_DEFINE_ARRAY()

carla::geom::Rotation::MSGPACK_DEFINE_ARRAY	(	pitch	,
		yaw	,
		roll
	)

◆ Normalize()

Rotation carla::geom::Rotation::Normalize ( ) const

inline

Definition at line 164 of file Rotation.h.

References pitch, roll, Rotation(), and yaw.

◆ operator FRotator()

carla::geom::Rotation::operator FRotator ( ) const

inline

Definition at line 274 of file Rotation.h.

References pitch, roll, and yaw.

◆ operator!=()

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

inline

Definition at line 226 of file Rotation.h.

◆ operator+()

Rotation carla::geom::Rotation::operator+ ( const Rotation & rhs ) const

inline

Definition at line 234 of file Rotation.h.

References pitch, roll, and yaw.

◆ operator+=()

Rotation & carla::geom::Rotation::operator+= ( const Rotation & rhs )

inline

Definition at line 250 of file Rotation.h.

References pitch, roll, and yaw.

◆ operator-()

Rotation carla::geom::Rotation::operator- ( const Rotation & rhs ) const

inline

Definition at line 242 of file Rotation.h.

References pitch, roll, and yaw.

◆ operator-=()

Rotation & carla::geom::Rotation::operator-= ( const Rotation & rhs )

inline

Definition at line 257 of file Rotation.h.

References pitch, roll, and yaw.

◆ operator==()

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

inline

Definition at line 220 of file Rotation.h.

References pitch, roll, and yaw.

◆ RotateVector() [1/2]

Vector3D carla::geom::Rotation::RotateVector ( const Vector3D & in_point ) const

inline

Definition at line 125 of file Rotation.h.

References RotateVector().

◆ RotateVector() [2/2]

void carla::geom::Rotation::RotateVector ( Vector3D & in_point ) const

inline

Definition at line 87 of file Rotation.h.

References pitch, roll, carla::geom::Math::ToRadians(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, yaw, and carla::geom::Vector3D::z.

Referenced by carla::geom::BoundingBox::GetLocalVertices(), RotateVector(), carla::geom::Transform::TransformPoint(), and carla::geom::Transform::TransformVector().

◆ ToRightHanded()

constexpr RightHandedRotation carla::geom::Rotation::ToRightHanded ( ) const

inlineconstexpr

This rotation expressed in a right-handed, x-forward / y-**left** / z-up frame (ROS REP-103 "FLU"), as intrinsic Z-Y-X Euler angles under the right-hand rule.

Mirroring the Y axis maps Rz(+yaw) * Ry(-pitch) * Rx(-roll) onto Rz(-yaw) * Ry(+(-pitch)) * Rx(+roll), so pitch and yaw flip sign and roll does not. Example: Rotation(pitch=20, yaw=30, roll=10) becomes RightHandedRotation(roll=10, pitch=-20, yaw=-30).

Definition at line 206 of file Rotation.h.

References pitch, roll, and yaw.

Referenced by carla::geom::Transform::ToRightHanded().

Member Data Documentation

◆ pitch

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

◆ roll

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

◆ yaw

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

Definition at line 54 of file Rotation.h.

Referenced by carla::nav::Navigation::AddOrUpdateVehicle(), carla::road::Lane::ComputeTransform(), carla::road::Map::GetAllCrosswalkZones(), carla::geom::Math::GetForwardVector(), carla::geom::Transform::GetInverseMatrix(), carla::geom::Transform::GetMatrix(), carla::geom::Math::GetRightVector(), carla::agents::navigation::GetTrafficLightTriggerLocation(), carla::geom::Math::GetUpVector(), carla::nav::Navigation::GetWalkerTransform(), InverseRotateVector(), carla::client::LaneInvasionCallback::MakeBounds(), Normalize(), operator FRotator(), operator+(), operator+=(), operator-(), operator-=(), operator==(), carla::ros2::ROS2::ProcessDataFromAutowareGNSS(), carla::ros2::ROS2::PublishTransform(), RotateVector(), TEST(), TEST(), TEST(), ToRightHanded(), and carla::traffic_manager::MotionPlanStage::Update().

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

Rotation.h

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Rotation() [1/3]

◆ Rotation() [2/3]

◆ Rotation() [3/3]

Member Function Documentation

◆ FromRightHanded()

◆ GetForwardVector()

◆ GetRightVector()

◆ GetUpVector()

◆ InverseRotateVector()

◆ MSGPACK_DEFINE_ARRAY()

◆ Normalize()

◆ operator FRotator()

◆ operator!=()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator==()

◆ RotateVector() [1/2]

◆ RotateVector() [2/2]

◆ ToRightHanded()

Member Data Documentation

◆ pitch

◆ roll

◆ yaw