RotMatrix Class Reference

Description

Rotation matrix in three dimensions. Represents group SO(3). Internal parameterization based on quaternions.

Public Member Functions
	RotMatrix ()
	Constructs unit transformation. More...
	~RotMatrix ()=default
	Destructor. More...
std::optional< double >	angleAroundCoordAxis (int iAxis) const
template<class T >
T	counterTransformed (const T &v) const
	Return transformed vector v. More...
RotMatrix	Inverse () const
	Returns the inverse transformation. More...
bool	isIdentity () const
	Determine if the transformation is trivial (identity) More...
bool	isXRotation () const
bool	isYRotation () const
bool	isZRotation () const
RotMatrix	operator* (const RotMatrix &) const
	Composes two transformations. More...
bool	operator== (const RotMatrix &) const
	Provides equality operator. More...
template<class T >
T	transformed (const T &v) const
	Return transformed vector v. More...
std::array< double, 3 >	zxzEulerAngles () const
	Calculates the Euler angles corresponding to the rotation. More...

Static Public Member Functions
static RotMatrix	AroundX (double phi)
	Creates rotation around x-axis. More...
static RotMatrix	AroundY (double phi)
	Creates rotation around y-axis. More...
static RotMatrix	AroundZ (double phi)
	Creates rotation around z-axis. More...
static RotMatrix	EulerZXZ (double alpha, double beta, double gamma)
	Creates rotation defined by Euler angles. More...

Constructor & Destructor Documentation

RotMatrix()

RotMatrix::RotMatrix

(

)

Constructs unit transformation.

~RotMatrix()

RotMatrix::~RotMatrix ( )

default

Destructor.

Member Function Documentation

angleAroundCoordAxis()

std::optional<double> RotMatrix::angleAroundCoordAxis

(

int

iAxis

)

const

AroundX()

static RotMatrix RotMatrix::AroundX ( double  phi )

static

Creates rotation around x-axis.

AroundY()

static RotMatrix RotMatrix::AroundY ( double  phi )

static

Creates rotation around y-axis.

AroundZ()

static RotMatrix RotMatrix::AroundZ ( double  phi )

static

Creates rotation around z-axis.

counterTransformed()

template<class T >

T RotMatrix::counterTransformed

(

const T &

v

)

const

Return transformed vector v.

EulerZXZ()

static RotMatrix RotMatrix::EulerZXZ ( double  alpha, double  beta, double  gamma  )

static

Creates rotation defined by Euler angles.

Inverse()

RotMatrix RotMatrix::Inverse

(

)

const

Returns the inverse transformation.

isIdentity()

bool RotMatrix::isIdentity

(

)

const

Determine if the transformation is trivial (identity)

isXRotation()

bool RotMatrix::isXRotation

(

)

const

isYRotation()

bool RotMatrix::isYRotation

(

)

const

isZRotation()

bool RotMatrix::isZRotation

(

)

const

operator*()

RotMatrix RotMatrix::operator*

(

const RotMatrix &

)

const

Composes two transformations.

operator==()

bool RotMatrix::operator==

(

const RotMatrix &

)

const

Provides equality operator.

transformed()

template<class T >

T RotMatrix::transformed

(

const T &

v

)

const

Return transformed vector v.

zxzEulerAngles()

std::array<double, 3> RotMatrix::zxzEulerAngles

(

)

const

Calculates the Euler angles corresponding to the rotation.