Structure for exploring a discrete, uniform angular space between two rigid bodies. More...
#include <geometry.h>
Inheritance diagram for Faunus::Geometry::TwobodyAngles:
Public Member Functions | |
| TwobodyAngles (double angle_resolution) | |
| auto | quaternionPairs () const |
| Iterator to loop over pairs of quaternions to rotate two rigid bodies against each other. More... | |
| size_t | size () const |
| Total number of points in angular space (i.e. the number of unique poses) | |
Public Attributes | |
| std::vector< Eigen::Quaterniond > | quaternions_1 |
| Quaternions to explore all Euler angles. | |
| std::vector< Eigen::Quaterniond > | quaternions_2 |
| Quaternions to explore all Euler angles. | |
| std::vector< Eigen::Quaterniond > | dihedrals |
| Quaternions to explore all dihedral angles. | |
Detailed Description
Structure for exploring a discrete, uniform angular space between two rigid bodies.
Quaternions for visiting all poses in angular space can be generated in several ways:
TwobodyAngles angles(0.1);
// Visit all poses via pairs of iterators
for (const auto& [q1, q2] : angles.quaternionPairs()) {
pos1 = q1 * pos1; // first body
pos2 = q2 * pos2; // second body
}
// Visit all poses via triplets of iterators. May be useful for parallel execution
// Note that quaternion multiplication is noncommutative so keep the shown order.
for (const auto &q_euler1 : angles.quaternions1) {
for (const auto &q_euler2 : angles.quaternions2) {
for (const auto &q_dihedral : angles.dihedrals) {
pos1 = q_euler1 * pos1; // first body
pos2 = (q_dihedral * q_euler2) * pos2; // second body
}
}
}
Member Function Documentation
◆ quaternionPairs()
|
inline |
Iterator to loop over pairs of quaternions to rotate two rigid bodies against each other.
The second quaternion in the pair includes dihedral rotations, i.e. the pair is q1, q_dihedral * q2.
The documentation for this class was generated from the following files:
- src/geometry.h
- src/geometry.cpp
