Main MRPT website > C++ reference
MRPT logo
Public Types | Public Member Functions | Static Public Member Functions | Protected Attributes | Private Types | Friends

AngleAxis< _Scalar > Class Template Reference
[Geometry_Module]


Detailed Description

template<typename _Scalar>
class AngleAxis< _Scalar >

Represents a 3D rotation as a rotation angle around an arbitrary 3D axis

Parameters:
_Scalarthe scalar type, i.e., the type of the coefficients.
Warning:
When setting up an AngleAxis object, the axis vector must be normalized.

The following two typedefs are provided for convenience:

Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily mimic Euler-angles. Here is an example:

Output:

Note:
This class is not aimed to be used to store a rotation transformation, but rather to make easier the creation of other rotation (Quaternion, rotation Matrix) and transformation objects.
See also:
class Quaternion, class Transform, MatrixBase::UnitX()

Definition at line 62 of file AngleAxis.h.

#include <src/Geometry/AngleAxis.h>

Inheritance diagram for AngleAxis< _Scalar >:
Inheritance graph
[legend]

List of all members.

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< ScalarQuaternionType

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
Scalarangle ()
const Vector3axis () const
Vector3axis ()
QuaternionType operator* (const AngleAxis &other) const
 Concatenates two rotations.
QuaternionType operator* (const QuaternionType &other) const
 Concatenates two rotations.
AngleAxis inverse () const
template<class QuatDerived >
AngleAxisoperator= (const QuaternionBase< QuatDerived > &q)
 Set *this from a unit quaternion.
template<typename Derived >
AngleAxisoperator= (const MatrixBase< Derived > &m)
 Set *this from a 3x3 rotation matrix mat.
template<typename Derived >
AngleAxisfromRotationMatrix (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.

Member Typedef Documentation

template<typename _Scalar>
typedef RotationBase<AngleAxis<_Scalar>,3> AngleAxis< _Scalar >::Base [private]

Definition at line 64 of file AngleAxis.h.

template<typename _Scalar>
typedef Matrix<Scalar,3,3> AngleAxis< _Scalar >::Matrix3

Definition at line 73 of file AngleAxis.h.

template<typename _Scalar>
typedef Quaternion<Scalar> AngleAxis< _Scalar >::QuaternionType

Definition at line 75 of file AngleAxis.h.

template<typename _Scalar>
typedef _Scalar AngleAxis< _Scalar >::Scalar

the scalar type of the coefficients

Reimplemented from RotationBase< AngleAxis< _Scalar >, 3 >.

Definition at line 72 of file AngleAxis.h.

template<typename _Scalar>
typedef Matrix<Scalar,3,1> AngleAxis< _Scalar >::Vector3

Definition at line 74 of file AngleAxis.h.


Member Enumeration Documentation

template<typename _Scalar>
anonymous enum
Enumerator:
Dim 

Definition at line 70 of file AngleAxis.h.


Constructor & Destructor Documentation

template<typename _Scalar>
AngleAxis< _Scalar >::AngleAxis (  ) [inline]

Default constructor without initialization.

Definition at line 85 of file AngleAxis.h.

Referenced by AngleAxis< _Scalar >::Identity(), and AngleAxis< _Scalar >::inverse().

template<typename _Scalar>
template<typename Derived >
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.

Warning:
If the axis vector is not normalized, then the angle-axis object represents an invalid rotation.

Definition at line 92 of file AngleAxis.h.

template<typename _Scalar>
template<typename QuatDerived >
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.

template<typename _Scalar>
template<typename Derived >
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.

template<typename _Scalar>
template<typename OtherScalarType >
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.


Member Function Documentation

template<typename _Scalar>
Scalar AngleAxis< _Scalar >::angle (  ) const [inline]
template<typename _Scalar>
Scalar& AngleAxis< _Scalar >::angle (  ) [inline]

Definition at line 100 of file AngleAxis.h.

References AngleAxis< _Scalar >::m_angle.

template<typename _Scalar>
Vector3& AngleAxis< _Scalar >::axis (  ) [inline]

Definition at line 103 of file AngleAxis.h.

References AngleAxis< _Scalar >::m_axis.

template<typename _Scalar>
const Vector3& AngleAxis< _Scalar >::axis (  ) const [inline]
template<typename _Scalar>
template<typename NewScalarType >
internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type AngleAxis< _Scalar >::cast (  ) const [inline]
Returns:
*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.

template<typename Scalar >
template<typename Derived >
AngleAxis< Scalar > & AngleAxis< Scalar >::fromRotationMatrix ( const MatrixBase< Derived > &  m )

Sets *this from a 3x3 rotation matrix.

Definition at line 204 of file AngleAxis.h.

template<typename _Scalar>
static const AngleAxis AngleAxis< _Scalar >::Identity (  ) [inline, static]

Definition at line 147 of file AngleAxis.h.

References AngleAxis< _Scalar >::AngleAxis().

template<typename _Scalar>
AngleAxis AngleAxis< _Scalar >::inverse (  ) const [inline]
Returns:
the inverse rotation, i.e., an angle-axis with opposite rotation angle

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.

template<typename _Scalar>
bool AngleAxis< _Scalar >::isApprox ( const AngleAxis< _Scalar > &  other,
typename NumTraits< Scalar >::Real  prec = NumTraits<Scalar>::dummy_precision() 
) const [inline]
Returns:
true if *this is approximately equal to other, within the precision determined by prec.
See also:
MatrixBase::isApprox()

Definition at line 153 of file AngleAxis.h.

References AngleAxis< _Scalar >::m_angle, and AngleAxis< _Scalar >::m_axis.

template<typename _Scalar>
QuaternionType AngleAxis< _Scalar >::operator* ( const AngleAxis< _Scalar > &  other ) const [inline]

Concatenates two rotations.

Definition at line 106 of file AngleAxis.h.

template<typename _Scalar>
QuaternionType AngleAxis< _Scalar >::operator* ( const QuaternionType other ) const [inline]

Concatenates two rotations.

Definition at line 110 of file AngleAxis.h.

template<typename Scalar >
template<typename Derived >
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.

template<typename Scalar >
template<typename QuatDerived >
AngleAxis< Scalar > & AngleAxis< Scalar >::operator= ( const QuaternionBase< QuatDerived > &  q )

Set *this from a unit quaternion.

The axis is normalized.

Warning:
As any other method dealing with quaternion, if the input quaternion is not normalized then the result is undefined.

Definition at line 172 of file AngleAxis.h.

References internal::sqrt(), QuaternionBase< Derived >::vec(), and QuaternionBase< Derived >::w().

template<typename Scalar >
AngleAxis< Scalar >::Matrix3 AngleAxis< Scalar >::toRotationMatrix ( void   ) const

Constructs and.

Returns:
an equivalent 3x3 rotation matrix.

Reimplemented from RotationBase< AngleAxis< _Scalar >, 3 >.

Definition at line 213 of file AngleAxis.h.

References PlainObjectBase< Derived >::coeffRef(), cos(), and sin().


Friends And Related Function Documentation

template<typename _Scalar>
QuaternionType operator* ( const QuaternionType a,
const AngleAxis< _Scalar > &  b 
) [friend]

Concatenates two rotations.

Definition at line 114 of file AngleAxis.h.


Member Data Documentation

template<typename _Scalar>
Scalar AngleAxis< _Scalar >::m_angle [protected]
template<typename _Scalar>
Vector3 AngleAxis< _Scalar >::m_axis [protected]



Page generated by Doxygen 1.7.2 for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011