Represents a 3D rotation as a rotation angle around an arbitrary 3D axis
_Scalar | the scalar type, i.e., the type of the coefficients. |
The following two typedefs are provided for convenience:
AngleAxisf
for float
AngleAxisd
for double
Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily mimic Euler-angles. Here is an example:
Output:
Definition at line 62 of file AngleAxis.h.
#include <src/Geometry/AngleAxis.h>
Public Types | |
enum | { Dim = 3 } |
typedef _Scalar | Scalar |
the scalar type of the coefficients | |
typedef Matrix< Scalar, 3, 3 > | Matrix3 |
typedef Matrix< Scalar, 3, 1 > | Vector3 |
typedef Quaternion< Scalar > | QuaternionType |
Public Member Functions | |
AngleAxis () | |
Default constructor without initialization. | |
template<typename Derived > | |
AngleAxis (Scalar angle, const MatrixBase< Derived > &axis) | |
Constructs and initialize the angle-axis rotation from an angle in radian and an axis which must be normalized. | |
template<typename QuatDerived > | |
AngleAxis (const QuaternionBase< QuatDerived > &q) | |
Constructs and initialize the angle-axis rotation from a quaternion q. | |
template<typename Derived > | |
AngleAxis (const MatrixBase< Derived > &m) | |
Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. | |
Scalar | angle () const |
Scalar & | angle () |
const Vector3 & | axis () const |
Vector3 & | axis () |
QuaternionType | operator* (const AngleAxis &other) const |
Concatenates two rotations. | |
QuaternionType | operator* (const QuaternionType &other) const |
Concatenates two rotations. | |
AngleAxis | inverse () const |
template<class QuatDerived > | |
AngleAxis & | operator= (const QuaternionBase< QuatDerived > &q) |
Set *this from a unit quaternion. | |
template<typename Derived > | |
AngleAxis & | operator= (const MatrixBase< Derived > &m) |
Set *this from a 3x3 rotation matrix mat. | |
template<typename Derived > | |
AngleAxis & | fromRotationMatrix (const MatrixBase< Derived > &m) |
Sets *this from a 3x3 rotation matrix. | |
Matrix3 | toRotationMatrix (void) const |
Constructs and. | |
template<typename NewScalarType > | |
internal::cast_return_type < AngleAxis, AngleAxis < NewScalarType > >::type | cast () const |
template<typename OtherScalarType > | |
AngleAxis (const AngleAxis< OtherScalarType > &other) | |
Copy constructor with scalar type conversion. | |
bool | isApprox (const AngleAxis &other, typename NumTraits< Scalar >::Real prec=NumTraits< Scalar >::dummy_precision()) const |
Static Public Member Functions | |
static const AngleAxis | Identity () |
Protected Attributes | |
Vector3 | m_axis |
Scalar | m_angle |
Private Types | |
typedef RotationBase < AngleAxis< _Scalar >, 3 > | Base |
Friends | |
QuaternionType | operator* (const QuaternionType &a, const AngleAxis &b) |
Concatenates two rotations. |
typedef RotationBase<AngleAxis<_Scalar>,3> AngleAxis< _Scalar >::Base [private] |
Definition at line 64 of file AngleAxis.h.
Definition at line 73 of file AngleAxis.h.
typedef Quaternion<Scalar> AngleAxis< _Scalar >::QuaternionType |
Definition at line 75 of file AngleAxis.h.
the scalar type of the coefficients
Reimplemented from RotationBase< AngleAxis< _Scalar >, 3 >.
Definition at line 72 of file AngleAxis.h.
Definition at line 74 of file AngleAxis.h.
anonymous enum |
Definition at line 70 of file AngleAxis.h.
Default constructor without initialization.
Definition at line 85 of file AngleAxis.h.
Referenced by AngleAxis< _Scalar >::Identity(), and AngleAxis< _Scalar >::inverse().
AngleAxis< _Scalar >::AngleAxis | ( | Scalar | angle, | |
const MatrixBase< Derived > & | axis | |||
) | [inline] |
Constructs and initialize the angle-axis rotation from an angle in radian and an axis which must be normalized.
Definition at line 92 of file AngleAxis.h.
AngleAxis< _Scalar >::AngleAxis | ( | const QuaternionBase< QuatDerived > & | q | ) | [inline, explicit] |
Constructs and initialize the angle-axis rotation from a quaternion q.
Definition at line 94 of file AngleAxis.h.
AngleAxis< _Scalar >::AngleAxis | ( | const MatrixBase< Derived > & | m | ) | [inline, explicit] |
Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix.
Definition at line 97 of file AngleAxis.h.
AngleAxis< _Scalar >::AngleAxis | ( | const AngleAxis< OtherScalarType > & | other | ) | [inline, explicit] |
Copy constructor with scalar type conversion.
Definition at line 141 of file AngleAxis.h.
References AngleAxis< _Scalar >::angle(), AngleAxis< _Scalar >::axis(), AngleAxis< _Scalar >::m_angle, and AngleAxis< _Scalar >::m_axis.
Definition at line 99 of file AngleAxis.h.
References AngleAxis< _Scalar >::m_angle.
Referenced by AngleAxis< _Scalar >::AngleAxis(), and QuaternionBase< Derived >::operator=().
Definition at line 100 of file AngleAxis.h.
References AngleAxis< _Scalar >::m_angle.
Definition at line 103 of file AngleAxis.h.
References AngleAxis< _Scalar >::m_axis.
Definition at line 102 of file AngleAxis.h.
References AngleAxis< _Scalar >::m_axis.
Referenced by AngleAxis< _Scalar >::AngleAxis(), and QuaternionBase< Derived >::operator=().
internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type AngleAxis< _Scalar >::cast | ( | ) | const [inline] |
*this
with scalar type casted to NewScalarType Note that if NewScalarType is equal to the current scalar type of *this
then this function smartly returns a const reference to *this
.
Definition at line 136 of file AngleAxis.h.
AngleAxis< Scalar > & AngleAxis< Scalar >::fromRotationMatrix | ( | const MatrixBase< Derived > & | m | ) |
Sets *this
from a 3x3 rotation matrix.
Definition at line 204 of file AngleAxis.h.
static const AngleAxis AngleAxis< _Scalar >::Identity | ( | ) | [inline, static] |
Definition at line 147 of file AngleAxis.h.
References AngleAxis< _Scalar >::AngleAxis().
Reimplemented from RotationBase< AngleAxis< _Scalar >, 3 >.
Definition at line 118 of file AngleAxis.h.
References AngleAxis< _Scalar >::AngleAxis(), AngleAxis< _Scalar >::m_angle, and AngleAxis< _Scalar >::m_axis.
bool AngleAxis< _Scalar >::isApprox | ( | const AngleAxis< _Scalar > & | other, | |
typename NumTraits< Scalar >::Real | prec = NumTraits<Scalar>::dummy_precision() | |||
) | const [inline] |
true
if *this
is approximately equal to other, within the precision determined by prec.Definition at line 153 of file AngleAxis.h.
References AngleAxis< _Scalar >::m_angle, and AngleAxis< _Scalar >::m_axis.
QuaternionType AngleAxis< _Scalar >::operator* | ( | const AngleAxis< _Scalar > & | other | ) | const [inline] |
Concatenates two rotations.
Definition at line 106 of file AngleAxis.h.
QuaternionType AngleAxis< _Scalar >::operator* | ( | const QuaternionType & | other | ) | const [inline] |
Concatenates two rotations.
Definition at line 110 of file AngleAxis.h.
AngleAxis< Scalar > & AngleAxis< Scalar >::operator= | ( | const MatrixBase< Derived > & | m | ) |
Set *this
from a 3x3 rotation matrix mat.
Definition at line 192 of file AngleAxis.h.
AngleAxis< Scalar > & AngleAxis< Scalar >::operator= | ( | const QuaternionBase< QuatDerived > & | q | ) |
Set *this
from a unit quaternion.
The axis is normalized.
Definition at line 172 of file AngleAxis.h.
References AngleAxis< _Scalar >::m_angle, AngleAxis< _Scalar >::m_axis, sqrt(), QuaternionBase< Derived >::vec(), and QuaternionBase< Derived >::w().
AngleAxis< Scalar >::Matrix3 AngleAxis< Scalar >::toRotationMatrix | ( | void | ) | const |
Constructs and.
Reimplemented from RotationBase< AngleAxis< _Scalar >, 3 >.
Definition at line 213 of file AngleAxis.h.
References PlainObjectBase< Derived >::coeffRef(), cos(), AngleAxis< _Scalar >::m_angle, AngleAxis< _Scalar >::m_axis, and sin().
QuaternionType operator* | ( | const QuaternionType & | a, | |
const AngleAxis< _Scalar > & | b | |||
) | [friend] |
Concatenates two rotations.
Definition at line 114 of file AngleAxis.h.
Definition at line 80 of file AngleAxis.h.
Referenced by AngleAxis< _Scalar >::angle(), AngleAxis< _Scalar >::AngleAxis(), AngleAxis< _Scalar >::inverse(), AngleAxis< _Scalar >::isApprox(), AngleAxis< _Scalar >::operator=(), and AngleAxis< _Scalar >::toRotationMatrix().
Definition at line 79 of file AngleAxis.h.
Referenced by AngleAxis< _Scalar >::AngleAxis(), AngleAxis< _Scalar >::axis(), AngleAxis< _Scalar >::inverse(), AngleAxis< _Scalar >::isApprox(), AngleAxis< _Scalar >::operator=(), and AngleAxis< _Scalar >::toRotationMatrix().
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