matrix::AxisAngle< Type > Class Template Reference

AxisAngle class. More...

#include <AxisAngle.hpp>

Inheritance diagram for matrix::AxisAngle< Type >:

Collaboration diagram for matrix::AxisAngle< Type >:

Public Types
typedef Matrix< Type, 3, 1 >	Matrix31
Public Types inherited from matrix::Vector< Type, 3 >
typedef Matrix< Type, M, 1 >	MatrixM1

Public Member Functions
	AxisAngle (const Type data_[3])
	Constructor from array. More...
	AxisAngle ()=default
	Standard constructor. More...
	AxisAngle (const Matrix31 &other)
	Constructor from Matrix31. More...
	AxisAngle (const Quaternion< Type > &q)
	Constructor from quaternion. More...
	AxisAngle (const Dcm< Type > &dcm)
	Constructor from dcm. More...
	AxisAngle (const Euler< Type > &euler)
	Constructor from euler angles. More...
	AxisAngle (Type x, Type y, Type z)
	Constructor from 3 axis angle values (unit vector * angle) More...
	AxisAngle (const Matrix31 &axis_, Type angle_)
	Constructor from axis and angle. More...
Vector< Type, 3 >	axis ()
Type	angle ()
Public Member Functions inherited from matrix::Vector< Type, 3 >
	Vector ()=default
	Vector (const MatrixM1 &other)
	Vector (const Type data_[M])
	Vector (const Slice< Type, M, 1, P, Q > &slice_in)
Type	operator() (size_t i) const
Type &	operator() (size_t i)
Type	dot (const MatrixM1 &b) const
Type	operator* (const MatrixM1 &b) const
Vector	operator* (Type b) const
Type	norm () const
Type	norm_squared () const
Type	length () const
void	normalize ()
Vector	unit () const
Vector	unit_or_zero (const Type eps=Type(1e-5)) const
Vector	normalized () const
bool	longerThan (Type testVal) const
Vector	sqrt () const
Public Member Functions inherited from matrix::Matrix< Type, M, 1 >
	Matrix ()=default
	Matrix (const Type data_[M *N])
	Matrix (const Type data_[M][N])
	Matrix (const Matrix &other)
	Matrix (const Slice< Type, M, N, P, Q > &in_slice)
Type	operator() (size_t i, size_t j) const
	Accessors/ Assignment etc. More...
Type &	operator() (size_t i, size_t j)
Matrix< Type, M, N > &	operator= (const Matrix< Type, M, N > &other)
void	copyTo (Type dst[M *N]) const
void	copyToColumnMajor (Type dst[M *N]) const
Matrix< Type, M, P >	operator* (const Matrix< Type, N, P > &other) const
	Matrix Operations. More...
Matrix< Type, M, N >	operator* (Type scalar) const
	Scalar Operations. More...
Matrix< Type, M, N >	emult (const Matrix< Type, M, N > &other) const
Matrix< Type, M, N >	edivide (const Matrix< Type, M, N > &other) const
Matrix< Type, M, N >	operator+ (const Matrix< Type, M, N > &other) const
Matrix< Type, M, N >	operator+ (Type scalar) const
Matrix< Type, M, N >	operator- (const Matrix< Type, M, N > &other) const
Matrix< Type, M, N >	operator- () const
Matrix< Type, M, N >	operator- (Type scalar) const
void	operator+= (const Matrix< Type, M, N > &other)
void	operator+= (Type scalar)
void	operator-= (const Matrix< Type, M, N > &other)
void	operator-= (Type scalar)
void	operator*= (const Matrix< Type, N, P > &other)
void	operator*= (Type scalar)
Matrix< Type, M, N >	operator/ (Type scalar) const
void	operator/= (Type scalar)
bool	operator== (const Matrix< Type, M, N > &other) const
bool	operator!= (const Matrix< Type, M, N > &other) const
void	write_string (char *buf, size_t n) const
	Misc. More...
void	print (FILE *stream=stdout) const
Matrix< Type, N, M >	transpose () const
Matrix< Type, N, M >	T () const
const Slice< Type, P, Q, M, N >	slice (size_t x0, size_t y0) const
Slice< Type, P, Q, M, N >	slice (size_t x0, size_t y0)
const Slice< Type, 1, N, M, N >	row (size_t i) const
Slice< Type, 1, N, M, N >	row (size_t i)
const Slice< Type, M, 1, M, N >	col (size_t j) const
Slice< Type, M, 1, M, N >	col (size_t j)
void	setRow (size_t i, const Matrix< Type, N, 1 > &row_in)
void	setCol (size_t j, const Matrix< Type, M, 1 > &column)
void	setZero ()
void	zero ()
void	setAll (Type val)
void	setOne ()
void	setNaN ()
void	setIdentity ()
void	identity ()
void	swapRows (size_t a, size_t b)
void	swapCols (size_t a, size_t b)
Matrix< Type, M, N >	abs () const
Type	max () const
Type	min () const
bool	isAllNan () const

Detailed Description

template<typename Type>
class matrix::AxisAngle< Type >

AxisAngle class.

The rotation between two coordinate frames is described by this class.

Definition at line 21 of file AxisAngle.hpp.

Member Typedef Documentation

Matrix31

template<typename Type>

typedef Matrix<Type, 3, 1> matrix::AxisAngle< Type >::Matrix31

Definition at line 33 of file AxisAngle.hpp.

Constructor & Destructor Documentation

AxisAngle() [1/8]

template<typename Type>

matrix::AxisAngle< Type >::AxisAngle ( const Type  data_[3] )

inlineexplicit

Constructor from array.

Parameters

data_

array

Definition at line 40 of file AxisAngle.hpp.

References matrix::AxisAngle< Type >::AxisAngle().

Here is the call graph for this function:

AxisAngle() [2/8]

template<typename Type>

matrix::AxisAngle< Type >::AxisAngle ( )

default

Standard constructor.

Referenced by matrix::AxisAngle< Type >::AxisAngle().

Here is the caller graph for this function:

AxisAngle() [3/8]

template<typename Type>

matrix::AxisAngle< Type >::AxisAngle ( const Matrix31 &  other )

inline

Constructor from Matrix31.

Parameters

other

Matrix31 to copy

Definition at line 55 of file AxisAngle.hpp.

AxisAngle() [4/8]

template<typename Type>

matrix::AxisAngle< Type >::AxisAngle ( const Quaternion< Type > &  q )

inline

Constructor from quaternion.

This sets the instance from a quaternion representing coordinate transformation from frame 2 to frame 1 where the rotation from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence.

Parameters

q	quaternion

Definition at line 69 of file AxisAngle.hpp.

References matrix::acos(), f(), and matrix::sin().

Here is the call graph for this function:

AxisAngle() [5/8]

template<typename Type>

matrix::AxisAngle< Type >::AxisAngle ( const Dcm< Type > &  dcm )

inline

Constructor from dcm.

Instance is initialized from a dcm representing coordinate transformation from frame 2 to frame 1.

Parameters

dcm	dcm to set quaternion to

Definition at line 93 of file AxisAngle.hpp.

AxisAngle() [6/8]

template<typename Type>

matrix::AxisAngle< Type >::AxisAngle ( const Euler< Type > &  euler )

inline

Constructor from euler angles.

This sets the instance to a quaternion representing coordinate transformation from frame 2 to frame 1 where the rotation from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence.

Parameters

euler

euler angle instance

Definition at line 108 of file AxisAngle.hpp.

AxisAngle() [7/8]

template<typename Type>

matrix::AxisAngle< Type >::AxisAngle ( Type  x, Type  y, Type  z  )

inline

Constructor from 3 axis angle values (unit vector * angle)

Parameters

x	r_x*angle
y	r_y*angle
z	r_z*angle

Definition at line 121 of file AxisAngle.hpp.

AxisAngle() [8/8]

template<typename Type>

matrix::AxisAngle< Type >::AxisAngle ( const Matrix31 &  axis_, Type  angle_  )

inline

Constructor from axis and angle.

Parameters

axis	An axis of rotation, normalized if not unit length
angle	The amount to rotate

Definition at line 135 of file AxisAngle.hpp.

References matrix::Vector< Type, M >::unit().

Here is the call graph for this function:

Member Function Documentation

angle()

template<typename Type>

Type matrix::AxisAngle< Type >::angle ( )

inline

Definition at line 155 of file AxisAngle.hpp.

References matrix::Vector< Type, M >::norm().

Referenced by main().

Here is the call graph for this function:

Here is the caller graph for this function:

axis()

template<typename Type>

Vector<Type, 3> matrix::AxisAngle< Type >::axis ( )

inline

Definition at line 147 of file AxisAngle.hpp.

References matrix::Vector< Type, M >::unit().

Referenced by main().

Here is the call graph for this function:

Here is the caller graph for this function:

---

The documentation for this class was generated from the following file:

• src/lib/matrix/matrix/AxisAngle.hpp