Class libCalibGeom::Rotation

Class defining a rotation in three dimensions. The internal representation is an angle-scaled axis.

Constructors and destructors

Rotation()

Rotation()

Returns:

void

Rotation()

Rotation(const double rx,const double ry,const double rz)

Returns:

void

Rotation()

Rotation(const std::array< double, 3 > & rvec)

Returns:

void

Public member functions

rx()

double &rx()

Returns:

double &

ry()

double &ry()

Returns:

double &

rz()

double &rz()

Returns:

double &

setAxisAngle()

voidsetAxisAngle(const double rx,const double ry,const double rz)

Returns:

void

rx()

const double &rx() const

Returns:

const double &

ry()

const double &ry() const

Returns:

const double &

rz()

const double &rz() const

Returns:

const double &

axisAngle()

std::array< double, 3 >axisAngle() const

Returns:

std::array< double, 3 >

quaternion()

std::array< double, 4 >quaternion() const

Returns:

std::array< double, 4 >

matrix()

Matrix< double, 3, 3 >matrix() const

Returns:

Matrix< double, 3, 3 >

ptr()

double *ptr()

Returns:

double *

ptr()

double const *ptr() const

Returns:

double const *

inv()

Rotationinv() const

Returns:

Rotation

operator*()

Rotationoperator*(const Rotation &other) const

Returns:

Rotation

operator*()

Translationoperator*(const Translation &T) const

Returns:

Translation

operator*()

Point3operator*(const Point3 &P) const

Returns:

Point3

toString()

std::stringtoString() const

Returns:

std::string

Public data members

rvec

std::array< double, 3 >rvec

No documentation provided.

Public Static Functions

fromQuaternion()

RotationfromQuaternion(const std::array< double, 4 > & q)

Returns:

Rotation

fromMatrix()

RotationfromMatrix(const Matrix< double, 3, 3 > & R)

Returns:

Rotation