Represents a 3D rotation as a rotation angle around an arbitrary 3D axis. More...
Public Types | |
enum | { Dim } |
typedef Matrix< Scalar, 3, 3 > | Matrix3 |
typedef Quaternion< Scalar > | QuaternionType |
typedef _Scalar | Scalar |
typedef Matrix< Scalar, 3, 1 > | Vector3 |
Public Member Functions | |
Scalar & | angle () |
Scalar | angle () const |
template<typename OtherScalarType > | |
AngleAxis (const AngleAxis< OtherScalarType > &other) | |
template<typename Derived > | |
AngleAxis (const MatrixBase< Derived > &m) | |
AngleAxis (const QuaternionType &q) | |
template<typename Derived > | |
AngleAxis (Scalar angle, const MatrixBase< Derived > &axis) | |
AngleAxis () | |
Vector3 & | axis () |
const Vector3 & | axis () const |
template<typename NewScalarType > | |
ei_cast_return_type< AngleAxis, AngleAxis< NewScalarType > >::type | cast () const |
template<typename Derived > | |
AngleAxis & | fromRotationMatrix (const MatrixBase< Derived > &m) |
AngleAxis | inverse () const |
bool | isApprox (const AngleAxis &other, typename NumTraits< Scalar >::Real prec=precision< Scalar >()) const |
Vector3 | operator* (const Vector3 &other) const |
Matrix3 | operator* (const Matrix3 &other) const |
QuaternionType | operator* (const QuaternionType &other) const |
QuaternionType | operator* (const AngleAxis &other) const |
template<typename Derived > | |
AngleAxis & | operator= (const MatrixBase< Derived > &m) |
AngleAxis & | operator= (const QuaternionType &q) |
Matrix3 | toRotationMatrix (void) const |
Protected Attributes | |
Scalar | m_angle |
Vector3 | m_axis |
Friends | |
Matrix3 | operator* (const Matrix3 &a, const AngleAxis &b) |
QuaternionType | operator* (const QuaternionType &a, const AngleAxis &b) |
Represents a 3D rotation as a rotation angle around an arbitrary 3D axis.
This is defined in the Geometry module.
#include <Eigen/Geometry>
_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:
Matrix3f m; m = AngleAxisf(0.25*M_PI, Vector3f::UnitX()) * AngleAxisf(0.5*M_PI, Vector3f::UnitY()) * AngleAxisf(0.33*M_PI, Vector3f::UnitZ()); cout << m << endl << "is unitary: " << m.isUnitary() << endl;
Output:
8.67e-08 0 1 0.969 -0.249 -5.36e-09 0.249 0.969 1.19e-07 is unitary: 1
typedef _Scalar Scalar |
the scalar type of the coefficients
Reimplemented from RotationBase< AngleAxis< _Scalar >, 3 >.
AngleAxis | ( | ) | [inline] |
Default constructor without initialization.
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.
AngleAxis | ( | const QuaternionType & | q | ) | [inline] |
Constructs and initialize the angle-axis rotation from a quaternion q.
AngleAxis | ( | const MatrixBase< Derived > & | m | ) | [inline, explicit] |
Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix.
Copy constructor with scalar type conversion
*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
.
AngleAxis inverse | ( | void | ) | const [inline] |
Reimplemented from RotationBase< AngleAxis< _Scalar >, 3 >.
bool isApprox | ( | const AngleAxis< _Scalar > & | other, | |
typename NumTraits< Scalar >::Real | prec = precision<Scalar>() | |||
) | const [inline] |
true
if *this
is approximately equal to other, within the precision determined by prec.QuaternionType operator* | ( | const QuaternionType & | other | ) | const [inline] |
Concatenates two rotations
QuaternionType operator* | ( | const AngleAxis< _Scalar > & | other | ) | const [inline] |
Concatenates two rotations
AngleAxis< Scalar > & operator= | ( | const MatrixBase< Derived > & | mat | ) | [inline] |
Set *this
from a 3x3 rotation matrix mat.
AngleAxis< Scalar > & operator= | ( | const QuaternionType & | q | ) | [inline] |
Set *this
from a quaternion. The axis is normalized.
Constructs and
Reimplemented from RotationBase< AngleAxis< _Scalar >, 3 >.
Concatenates two rotations
QuaternionType operator* | ( | const QuaternionType & | a, | |
const AngleAxis< _Scalar > & | b | |||
) | [friend] |
Concatenates two rotations