orientations — ALE Orientation Classes & Functions

namespace ale
class Orientations
#include <Orientations.h>

Public Functions

inline Orientations()

Construct a default empty orientation object

Orientations(const std::vector<Rotation> &rotations, const std::vector<double> &times, const std::vector<Vec3d> &avs = std::vector<ale::Vec3d>(), const Rotation &constRot = Rotation(1, 0, 0, 0), const std::vector<int> const_frames = std::vector<int>(), const std::vector<int> time_dependent_frames = std::vector<int>())

Construct an orientation object give a set of rotations and optionally angular velocities at specific times.

Parameters:

  • rotations – The rotations defining the Orientations

  • times – The times for the rotations and angular velocities

  • avs – The angular velocity at each time

  • constRot – An additional constant rotation that is applied after the time dependent rotations

  • const_frames – The frame ids that constRot rotates through

  • time_dependent_frames – The frame ids that rotations rotate through

inline ~Orientations()

Orientations destructor

std::vector<Rotation> getRotations() const

Get the vector of time dependent rotations

std::vector<ale::Vec3d> getAngularVelocities() const

Get the vector of angular velocities

std::vector<double> getTimes() const

Get the vector of times

std::vector<int> getConstantFrames() const

Get the frames that the constant rotation rotates through

std::vector<int> getTimeDependentFrames() const

Get the frames that the time dependent rotations rotate through

Rotation getConstantRotation() const

Get the constant rotation

Rotation interpolateTimeDep(double time, RotationInterpolation interpType = SLERP) const

Get the time dependent component of the interpolated rotation at a specific time.

Parameters:

  • time – The time to interpolate at

  • interpType – The type of interpolation to use

Returns:

The time dependent rotation at the input time

Rotation interpolate(double time, RotationInterpolation interpType = SLERP) const

Get the interpolated rotation at a specific time.

Parameters:

  • time – The time to interpolate at

  • interpType – The type of interpolation to use

Returns:

The full rotation at the input time

ale::Vec3d interpolateAV(double time) const

Get the interpolated angular velocity at a specific time. Angular velocities are interpolated linearly to match up with the assumptions of SLERP.

Parameters:

time – The time to interpolate the angular velocity at

Returns:

The angular velocity at the input time

ale::Vec3d rotateVectorAt(double time, const ale::Vec3d &vector, RotationInterpolation interpType = SLERP, bool invert = false) const

Rotate a 3d vector at a specific time

Parameters:

  • time – The time to rotate the vector at

  • vector – The input vector to rotate

  • interpType – The interpolation type to use

  • invert – If the rotation should be inverted

Returns:

The rotated 3d vector

ale::State rotateStateAt(double time, const ale::State &state, RotationInterpolation interpType = SLERP, bool invert = false) const

Rotate a state vector at a specific time

Parameters:

  • time – The time to rotate the vector at

  • state – The input state to rotate

  • interpType – The interpolation type to use

  • invert – If the rotation should be inverted

Returns:

The rotated state

Orientations &addConstantRotation(const Rotation &addedConst)

Add an additional constant rotation after this. This is equivalent to left multiplication by a constant rotation.

Parameters:

addedConst – The additional constant rotation to apply after this

Returns:

A refernce to this after the update

Orientations &operator*=(const Orientations &rhs)

Multiply this set of orientations by another set of orientations

Parameters:

rhs – The set of orientations to apply before this set

Returns:

A refernce to this after the update

Orientations &operator*=(const Rotation &rhs)

Add an additional constant rotation before this. This is equivalent to right multiplication by a constant rotation.

Parameters:

rhs – The additional constant rotation to apply before this

Returns:

A refernce to this after the update

Orientations inverse() const

Invert the set orientations.

Note that inverting a set of orientations twice does not result in the original orientations. the constant rotation is applied after the time dependent rotation. This means in the inverse, the constant rotation is applied first and then the time dependent rotation. So, the inverted set of orientations is entirely time dependent. Then, the original constant rotations cannot be recovered when inverting again. The set of orientations will still operate the same way, but its internal state will not be the same.

Similarly, the angular velocities will not be the same as we do not assume the angular acceleration to be continuous.

Returns:

A new set of orientations that are inverted.

Private Members

std::vector<Rotation> m_rotations

The set of time dependent rotations.

std::vector<ale::Vec3d> m_avs

The set of angular velocities. Empty if there are no angular velocities.

std::vector<double> m_times

The set of times.

std::vector<int> m_timeDepFrames

The frame IDs that the time dependent rotations rotate through.

std::vector<int> m_constFrames

The frame IDs that the constant rotation rotates through.

Rotation m_constRotation

The constant rotation applied after the time dependent rotations.