rotmatrix Class Reference
[Rotation matrices]

#include <rotmatrix.h>

List of all members.

Public Member Functions

rotmatrix (double a00, double a01, double a02, double a10, double a11, double a12, double a20, double a21, double a22)

rotmatrix (const vec3 &a, const vec3 &b, const vec3 &c)

void SetToIdentity ()

void SetToZero ()

void Transpose ()

void toAxisAngle (vec3 &axis, double &angle) const

void Make_Axis_Rotation_Transform (const vec3 &axis, double angle)

void Make_CPAC_Euler_Matrix (double alpha, double beta, double gamma)

void Extract_CPAC_Euler_Angles (double &alpha, double &beta, double &gamma) const

vec3 Transform (const vec3 &vec) const

void Transform (const vec3 &vec, vec3 &vec2) const

Related Functions

(Note that these are not member functions.)

rotmatrix operator* (const rotmatrix &a, const rotmatrix &b)

void matmult (const rotmatrix &a, const rotmatrix &b, rotmatrix &res)

void TransposeTimes (const rotmatrix &a, const rotmatrix &b, rotmatrix &res)

std::ostream & operator<< (std::ostream &os, const rotmatrix &mat)

Detailed Description

Class for rotation transforms in 3D space

Definition at line 45 of file rotmatrix.h.

Constructor & Destructor Documentation

rotmatrix::rotmatrix	(	double	a00,
		double	a01,
		double	a02,
		double	a10,
		double	a11,
		double	a12,
		double	a20,
		double	a21,
		double	a22
	)			`[inline]`

Constructs a rotation matrix from its nine entries

Definition at line 53 of file rotmatrix.h.

rotmatrix::rotmatrix	(	const vec3 &	a,
		const vec3 &	b,
		const vec3 &	c
	)

Constructs a rotation matrix so that a is the first column, b is the second column and c is the third column.

Note:: The vectors a, b and c must form an orthonormal system!

Definition at line 41 of file rotmatrix.cc.

Member Function Documentation

void rotmatrix::SetToIdentity ( )

Sets the matrix to the identity matrix.

Definition at line 48 of file rotmatrix.cc.

void rotmatrix::SetToZero ( )

Sets all matrix elements to zero.

Definition at line 55 of file rotmatrix.cc.

void rotmatrix::Transpose ( )

Transposes the matrix.

Definition at line 61 of file rotmatrix.cc.

void rotmatrix::toAxisAngle	(	vec3 &	axis,
		double &	angle
	)			const

Extracts a unit-length rotation axis axis and a rotation angle angle from the matrix.

Definition at line 68 of file rotmatrix.cc.

void rotmatrix::Make_Axis_Rotation_Transform	(	const vec3 &	axis,
		double	angle
	)			`[inline]`

Constructs a matrix which causes a rotation by angle around axis. axis must have unit length.

Definition at line 81 of file rotmatrix.h.

void rotmatrix::Make_CPAC_Euler_Matrix	(	double	alpha,
		double	beta,
		double	gamma
	)

Creates a rotation matrix A, which performs the following operations on a vector v, when Av is calculated:

rotate v around the z-axis by gamma,
rotate v' around the y-axis by beta,
rotate v'' around the z-axis by alpha.

Note:: alpha, beta and gamma are given in radians, the rotations are right handed.
This transformation rotates the vectors, not the coordinate axes!

Definition at line 121 of file rotmatrix.cc.

void rotmatrix::Extract_CPAC_Euler_Angles	(	double &	alpha,
		double &	beta,
		double &	gamma
	)			const

Extracts the Euler angles alpha, beta and gamma from the matrix. For their definition see Make_CPAC_Euler_Matrix().

Note:: In case of ambiguity alpha will be 0.

Definition at line 132 of file rotmatrix.cc.

vec3 rotmatrix::Transform ( const vec3 & vec ) const [inline]

Returns the vector vec, transformed by the matrix.

Definition at line 120 of file rotmatrix.h.

void rotmatrix::Transform	(	const vec3 &	vec,
		vec3 &	vec2
	)			const `[inline]`

Returns the vector vec, transformed by the matrix, in vec2.

Definition at line 128 of file rotmatrix.h.

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

rotmatrix Class Reference [Rotation matrices]

Public Member Functions

Related Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

rotmatrix Class Reference
[Rotation matrices]