math_euler.cpp

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#include "math_euler.h"
 
#include <cmath>
#include <sstream>
 
#include "math_rot_converter.h"
#include "math_rotation_matrix.h"
 
namespace designlab {
 
std::string EulerXYZ::ToString() const {
  std::string str;
 
  str += "( x-axis: " + math_util::FloatingPointNumToString(x_angle) +
         " [rad], y-axis : " + math_util::FloatingPointNumToString(y_angle) +
         " [rad], z-axis: " + math_util::FloatingPointNumToString(z_angle) +
         " [rad]) xyz-euler angles";
 
  return str;
}
 
std::string EulerXYZ::ToCsvString() const {
  std::stringstream ss;
  ss << *this;
  return ss.str();
}
 
std::string EulerXYZ::ToStringDeg() const {
  using math_util::ConvertRadToDeg;
  using math_util::FloatingPointNumToString;
 
  std::string str;
 
  str +=
      "( x-axis: " + FloatingPointNumToString(ConvertRadToDeg(x_angle)) +
      " [deg], y-axis : " + FloatingPointNumToString(ConvertRadToDeg(y_angle)) +
      " [deg], z-axis: " + FloatingPointNumToString(ConvertRadToDeg(z_angle)) +
      " [deg]) xyz-euler angles";
 
  return str;
}
 
Vector3 RotateVector3(const Vector3& vec, const EulerXYZ& rot) {
  const RotationMatrix3x3 rot_mat = ToRotationMatrix(rot);
 
  return RotateVector3(vec, rot_mat);
}
 
}  // namespace designlab