Function ouster::sdk::core::euler_pose_to_matrix

Function Documentation

Eigen::Matrix4d ouster::sdk::core::euler_pose_to_matrix(const Eigen::Matrix<double, 6, 1> &pose)

Converts a pose given in Euler angles and translation to a homogeneous transformation matrix.

The rotation is applied in the order of yaw, pitch, roll.

The pose vector should contain the following elements in this order:

  • roll (rotation along X-axis in radians)

  • pitch (rotation along Y-axis in radians)

  • yaw (rotation along Z-axis in radians)

  • x (translation along X-axis)

  • y (translation along Y-axis)

  • z (translation along Z-axis)

Parameters:

pose[in] – A 6x1 vector containing the pose information.

Returns:

Eigen::Matrix4d The 4x4 homogeneous transformation matrix.