Represents a 3D rotation as a rotation angle around an arbitrary 3D axis. More...
#include <ForwardDeclarations.h>
Public Types | |
enum | { Dim = 3 } |
typedef Matrix< Scalar, 3, 3 > | Matrix3 |
typedef Quaternion< Scalar > | QuaternionType |
typedef _Scalar | Scalar |
typedef Matrix< Scalar, 3, 1 > | Vector3 |
Public Member Functions | |
EIGEN_DEVICE_FUNC Scalar & | angle () |
EIGEN_DEVICE_FUNC Scalar | angle () const |
EIGEN_DEVICE_FUNC | AngleAxis () |
template<typename OtherScalarType > | |
EIGEN_DEVICE_FUNC | AngleAxis (const AngleAxis< OtherScalarType > &other) |
template<typename Derived > | |
EIGEN_DEVICE_FUNC | AngleAxis (const MatrixBase< Derived > &m) |
template<typename QuatDerived > | |
EIGEN_DEVICE_FUNC | AngleAxis (const QuaternionBase< QuatDerived > &q) |
template<typename Derived > | |
EIGEN_DEVICE_FUNC | AngleAxis (const Scalar &angle, const MatrixBase< Derived > &axis) |
EIGEN_DEVICE_FUNC Vector3 & | axis () |
const EIGEN_DEVICE_FUNC Vector3 & | axis () const |
template<typename NewScalarType > | |
EIGEN_DEVICE_FUNC internal::cast_return_type< AngleAxis, AngleAxis< NewScalarType > >::type | cast () const |
template<typename Derived > | |
EIGEN_DEVICE_FUNC AngleAxis & | fromRotationMatrix (const MatrixBase< Derived > &m) |
template<typename Derived > | |
EIGEN_DEVICE_FUNC AngleAxis< Scalar > & | fromRotationMatrix (const MatrixBase< Derived > &mat) |
Sets *this from a 3x3 rotation matrix. More... | |
EIGEN_DEVICE_FUNC AngleAxis | inverse () const |
EIGEN_DEVICE_FUNC bool | isApprox (const AngleAxis &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const |
EIGEN_DEVICE_FUNC QuaternionType | operator* (const AngleAxis &other) const |
template<typename OtherDerived > | |
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector< Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType | operator* (const EigenBase< OtherDerived > &e) const |
EIGEN_DEVICE_FUNC QuaternionType | operator* (const QuaternionType &other) const |
template<int Mode, int Options> | |
EIGEN_DEVICE_FUNC Transform< Scalar, Dim, Mode > | operator* (const Transform< Scalar, Dim, Mode, Options > &t) const |
EIGEN_DEVICE_FUNC Transform< Scalar, Dim, Isometry > | operator* (const Translation< Scalar, Dim > &t) const |
EIGEN_DEVICE_FUNC RotationMatrixType | operator* (const UniformScaling< Scalar > &s) const |
template<typename Derived > | |
EIGEN_DEVICE_FUNC AngleAxis & | operator= (const MatrixBase< Derived > &m) |
template<typename Derived > | |
EIGEN_DEVICE_FUNC AngleAxis< Scalar > & | operator= (const MatrixBase< Derived > &mat) |
template<class QuatDerived > | |
EIGEN_DEVICE_FUNC AngleAxis & | operator= (const QuaternionBase< QuatDerived > &q) |
template<typename QuatDerived > | |
EIGEN_DEVICE_FUNC AngleAxis< Scalar > & | operator= (const QuaternionBase< QuatDerived > &q) |
EIGEN_DEVICE_FUNC Matrix3 | toRotationMatrix (void) const |
Static Public Member Functions | |
static const EIGEN_DEVICE_FUNC AngleAxis | Identity () |
Protected Attributes | |
Scalar | m_angle |
Vector3 | m_axis |
Private Types | |
typedef RotationBase< AngleAxis< _Scalar >, 3 > | Base |
Friends | |
EIGEN_DEVICE_FUNC friend Transform< Scalar, Dim, Affine > | operator* (const DiagonalMatrix< Scalar, Dim > &l, const Derived &r) |
template<typename OtherDerived > | |
EIGEN_DEVICE_FUNC RotationMatrixType | operator* (const EigenBase< OtherDerived > &l, const Derived &r) |
EIGEN_DEVICE_FUNC QuaternionType | operator* (const QuaternionType &a, const AngleAxis &b) |
Represents a 3D rotation as a rotation angle around an arbitrary 3D axis.
\geometry_module
_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:
Output:
Definition at line 290 of file ForwardDeclarations.h.
|
private |
Definition at line 51 of file AngleAxis.h.
typedef Matrix<Scalar,3,3> Eigen::AngleAxis::Matrix3 |
Definition at line 60 of file AngleAxis.h.
Definition at line 62 of file AngleAxis.h.
typedef _Scalar Eigen::AngleAxis::Scalar |
the scalar type of the coefficients
Definition at line 59 of file AngleAxis.h.
typedef Matrix<Scalar,3,1> Eigen::AngleAxis::Vector3 |
Definition at line 61 of file AngleAxis.h.
anonymous enum |
Enumerator | |
---|---|
Dim |
Definition at line 57 of file AngleAxis.h.
|
inline |
Default constructor without initialization.
Definition at line 72 of file AngleAxis.h.
|
inline |
Constructs and initialize the angle-axis rotation from an angle in radian and an axis which must be normalized.
Definition at line 80 of file AngleAxis.h.
|
inlineexplicit |
Constructs and initialize the angle-axis rotation from a quaternion q. This function implicitly normalizes the quaternion q.
Definition at line 85 of file AngleAxis.h.
|
inlineexplicit |
Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix.
Definition at line 88 of file AngleAxis.h.
|
inlineexplicit |
Copy constructor with scalar type conversion
Definition at line 139 of file AngleAxis.h.
|
inline |
Definition at line 93 of file AngleAxis.h.
|
inline |
Definition at line 91 of file AngleAxis.h.
|
inline |
Definition at line 101 of file AngleAxis.h.
|
inline |
Definition at line 96 of file AngleAxis.h.
|
inline |
*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 134 of file AngleAxis.h.
EIGEN_DEVICE_FUNC AngleAxis& Eigen::AngleAxis::fromRotationMatrix | ( | const MatrixBase< Derived > & | m | ) |
EIGEN_DEVICE_FUNC AngleAxis<Scalar>& Eigen::AngleAxis::fromRotationMatrix | ( | const MatrixBase< Derived > & | mat | ) |
Sets *this
from a 3x3 rotation matrix.
Definition at line 209 of file AngleAxis.h.
|
inlinestatic |
Definition at line 145 of file AngleAxis.h.
|
inline |
Definition at line 116 of file AngleAxis.h.
|
inline |
true
if *this
is approximately equal to other, within the precision determined by prec.Definition at line 151 of file AngleAxis.h.
|
inline |
Concatenates two rotations
Definition at line 104 of file AngleAxis.h.
|
inline |
*this
with a generic expression e e can be:Definition at line 71 of file RotationBase.h.
|
inline |
Concatenates two rotations
Definition at line 108 of file AngleAxis.h.
|
inline |
*this
with a transformation t Definition at line 89 of file RotationBase.h.
|
inline |
*this
with a translation t Definition at line 56 of file RotationBase.h.
|
inline |
*this
with a uniform scaling s Definition at line 60 of file RotationBase.h.
EIGEN_DEVICE_FUNC AngleAxis& Eigen::AngleAxis::operator= | ( | const MatrixBase< Derived > & | m | ) |
EIGEN_DEVICE_FUNC AngleAxis<Scalar>& Eigen::AngleAxis::operator= | ( | const MatrixBase< Derived > & | mat | ) |
Set *this
from a 3x3 rotation matrix mat.
Definition at line 197 of file AngleAxis.h.
EIGEN_DEVICE_FUNC AngleAxis& Eigen::AngleAxis::operator= | ( | const QuaternionBase< QuatDerived > & | q | ) |
EIGEN_DEVICE_FUNC AngleAxis<Scalar>& Eigen::AngleAxis::operator= | ( | const QuaternionBase< QuatDerived > & | q | ) |
Set *this
from a unit quaternion.
The resulting axis is normalized, and the computed angle is in the [0,pi] range.
This function implicitly normalizes the quaternion q.
Definition at line 170 of file AngleAxis.h.
AngleAxis< Scalar >::Matrix3 EIGEN_DEVICE_FUNC Eigen::AngleAxis::toRotationMatrix | ( | void | ) | const |
Constructs and
Definition at line 218 of file AngleAxis.h.
|
friend |
Definition at line 80 of file RotationBase.h.
|
friend |
Definition at line 76 of file RotationBase.h.
|
friend |
Concatenates two rotations
Definition at line 112 of file AngleAxis.h.
|
protected |
Definition at line 67 of file AngleAxis.h.
|
protected |
Definition at line 66 of file AngleAxis.h.