Rotation structure and transformations between different parameterizations. More...

#include <Rotation.h>

Inheritance diagram for alvar::Rotation:

Public Types
enum	RotationType { QUAT, MAT, EUL, ROD }
	Rotation can be represented in four ways: quaternion (QUAT), matrix (MAT), euler angles (EUL) and exponential map (ROD). More...

Public Member Functions
void	GetEuler (CvMat *mat) const
	Returns the rotation in Euler angles. More...

void	GetMatrix (CvMat *mat) const
	Returns the rotation in matrix form. 3x3 and 4x4 matrices are allowed. More...

void	GetQuaternion (CvMat *mat) const
	Returns the rotation in quaternion form. More...

void	GetRodriques (CvMat *mat) const
	Returns the rotation in rotation vector form. More...

void	Mirror (bool x, bool y, bool z)
	Mirrors the rotation in selected directions. More...

Rotation &	operator+= (const Rotation &v)

Rotation &	operator= (const Rotation &p)

void	Reset ()
	Resets the rotation into identity. More...

	Rotation ()

	Rotation (const Rotation &r)

	Rotation (CvMat *data, RotationType t)
	Constructor. More...

void	SetEuler (const CvMat *mat)
	Sets the rotation from given Euler angles. More...

void	SetMatrix (const CvMat *mat)
	Sets the rotation from given rotation matrix. 3x3 and 4x4 matrices are allowed. More...

void	SetQuaternion (CvMat *mat)
	Sets the rotation from given quaternion. More...

void	SetQuaternion (const double *quat)
	Sets the rotation from given quaternion. More...

void	SetRodriques (const CvMat *mat)
	Sets the rotation from given rotation vector. More...

void	Transpose ()

Static Public Member Functions
static void	EulToQuat (const double eul, double quat)
	Converts a rotation described by Euler angles into quaternion form. More...

static void	Mat9ToQuat (const double mat, double quat)
	Converts a 3x3 rotation martix into quaternion form. More...

static void	Mat9ToRod (double mat, double rod)
	Converts 3x3 rotation matrix into Rodriques representation. More...

static void	MirrorMat (CvMat *mat, bool x, bool y, bool z)
	Simple function to mirror a rotation matrix in different directions. More...

static void	QuatInv (const double q, double qi)
	Inverts unit quaternion. More...

static void	QuatMul (const double q1, const double q2, double *q3)
	Quaternion multiplication. More...

static void	QuatNorm (double *q)
	Normalizes a quaternion. More...

static void	QuatToEul (const double q, double eul)
	Converts a rotation described by a quaternion into Euler angles. More...

static void	QuatToMat16 (const double quat, double mat)
	Converts a rotation described by a quaternion into 4x4 OpenGL-like transformation matrix. The translation part is not altered. More...

static void	QuatToMat9 (const double quat, double mat)
	Converts a rotation described by a quaternion into 3x3 rotation matrix. More...

static void	RodToMat9 (double rod, double mat)
	Converts 3x1 rotation vector into 3x3 rotation matrix using Rodriques' formula. More...

Public Attributes
double	quaternion [4]

CvMat	quaternion_mat

Detailed Description

Rotation structure and transformations between different parameterizations.

Definition at line 43 of file Rotation.h.

Member Enumeration Documentation

enum alvar::Rotation::RotationType

Rotation can be represented in four ways: quaternion (QUAT), matrix (MAT), euler angles (EUL) and exponential map (ROD).

Enumerator
QUAT
MAT
EUL
ROD

Definition at line 53 of file Rotation.h.

Constructor & Destructor Documentation

alvar::Rotation::Rotation ( )

Definition at line 32 of file Rotation.cpp.

alvar::Rotation::Rotation ( const Rotation & r )

Definition at line 38 of file Rotation.cpp.

alvar::Rotation::Rotation	(	CvMat *	data,
		RotationType	t
	)

Constructor.

Parameters

data	Rotation data stored in CvMat. With RotationType::MAT both 3x3 and 4x4 matrices are allowed.
t	Rotation type that corresponds to data.

Definition at line 43 of file Rotation.cpp.

Member Function Documentation

void alvar::Rotation::EulToQuat	(	const double *	eul,
		double *	quat
	)

static

Converts a rotation described by Euler angles into quaternion form.

Parameters

eul	Rotation in Euler angles.
quat	Resulting quaternion.

Definition at line 271 of file Rotation.cpp.

void alvar::Rotation::GetEuler ( CvMat * mat ) const

Returns the rotation in Euler angles.

Parameters

mat	The rotation is stored here (3x1 CvMat).

Definition at line 348 of file Rotation.cpp.

void alvar::Rotation::GetMatrix ( CvMat * mat ) const

Returns the rotation in matrix form. 3x3 and 4x4 matrices are allowed.

Parameters

mat	The rotation is stored here.

Definition at line 331 of file Rotation.cpp.

void alvar::Rotation::GetQuaternion ( CvMat * mat ) const

Returns the rotation in quaternion form.

Parameters

mat	The rotation is stored here (4x1 CvMat).

Definition at line 353 of file Rotation.cpp.

void alvar::Rotation::GetRodriques ( CvMat * mat ) const

Returns the rotation in rotation vector form.

Parameters

mat	The rotation is stored here (3x1 CvMat).

Definition at line 341 of file Rotation.cpp.

void alvar::Rotation::Mat9ToQuat	(	const double *	mat,
		double *	quat
	)

static

Converts a 3x3 rotation martix into quaternion form.

Parameters

mat	3x3 rotation matrix.
quat	Resulting quaternion.

Definition at line 257 of file Rotation.cpp.

void alvar::Rotation::Mat9ToRod	(	double *	mat,
		double *	rod
	)

static

Converts 3x3 rotation matrix into Rodriques representation.

Parameters

mat	3x3 rotation matrix.
rod	Resulting 3x1 rotation vector.

Definition at line 99 of file Rotation.cpp.

void alvar::Rotation::Mirror	(	bool	x,
		bool	y,
		bool	z
	)

Mirrors the rotation in selected directions.

Parameters

x
y
z

Definition at line 85 of file Rotation.cpp.

void alvar::Rotation::MirrorMat	(	CvMat *	mat,
		bool	x,
		bool	y,
		bool	z
	)

static

Simple function to mirror a rotation matrix in different directions.

Parameters

mat	Matrix to be mirrored.
x
y
z

Definition at line 75 of file Rotation.cpp.

Rotation & alvar::Rotation::operator+= ( const Rotation & v )

inline

Definition at line 365 of file Rotation.cpp.

Rotation & alvar::Rotation::operator= ( const Rotation & p )

inline

Definition at line 359 of file Rotation.cpp.

void alvar::Rotation::QuatInv	(	const double *	q,
		double *	qi
	)

static

Inverts unit quaternion.

Parameters

q	Unit quaternion to be inverted.
qi	Resulting quaternion.

Definition at line 115 of file Rotation.cpp.

void alvar::Rotation::QuatMul	(	const double *	q1,
		const double *	q2,
		double *	q3
	)

static

Quaternion multiplication.

Parameters

q1
q2
q3	Resulting quaternion.

Definition at line 132 of file Rotation.cpp.

void alvar::Rotation::QuatNorm ( double * q )

static

Normalizes a quaternion.

Parameters

q	Quaternion to be normalized.

Definition at line 123 of file Rotation.cpp.

void alvar::Rotation::QuatToEul	(	const double *	q,
		double *	eul
	)

static

Converts a rotation described by a quaternion into Euler angles.

Parameters

q	Rotation in quaternion form.
eul	Resulting Euler angles.

Definition at line 221 of file Rotation.cpp.

void alvar::Rotation::QuatToMat16	(	const double *	quat,
		double *	mat
	)

static

Converts a rotation described by a quaternion into 4x4 OpenGL-like transformation matrix. The translation part is not altered.

Parameters

quat	Rotation in quaternion form.
mat	Resulting 4x4 transformation matrix.

Definition at line 185 of file Rotation.cpp.

void alvar::Rotation::QuatToMat9	(	const double *	quat,
		double *	mat
	)

static

Converts a rotation described by a quaternion into 3x3 rotation matrix.

Parameters

quat	Rotation in quaternion form.
mat	Corresponding 3x3 rotation matrix.

Definition at line 152 of file Rotation.cpp.

void alvar::Rotation::Reset ( )

Resets the rotation into identity.

Definition at line 94 of file Rotation.cpp.

void alvar::Rotation::RodToMat9	(	double *	rod,
		double *	mat
	)

static

Converts 3x1 rotation vector into 3x3 rotation matrix using Rodriques' formula.

Parameters

rod	3x1 rotation vector.
Resulting	3x3 rotation matrix.

Definition at line 107 of file Rotation.cpp.

void alvar::Rotation::SetEuler ( const CvMat * mat )

Sets the rotation from given Euler angles.

Parameters

mat	Input Euler angles (3x1 CvMat).

Definition at line 309 of file Rotation.cpp.

void alvar::Rotation::SetMatrix ( const CvMat * mat )

Sets the rotation from given rotation matrix. 3x3 and 4x4 matrices are allowed.

Parameters

mat	Input rotation matrix (3x3 or 4x4 CvMat).

Definition at line 321 of file Rotation.cpp.

void alvar::Rotation::SetQuaternion ( CvMat * mat )

Sets the rotation from given quaternion.

Parameters

mat	Input quaternion (4x1 CvMat).

Definition at line 294 of file Rotation.cpp.

void alvar::Rotation::SetQuaternion ( const double * quat )

Sets the rotation from given quaternion.

Parameters

mat	Input quaternion (4x1 double array).

Definition at line 300 of file Rotation.cpp.

void alvar::Rotation::SetRodriques ( const CvMat * mat )

Sets the rotation from given rotation vector.

Parameters

mat	Input rotation vector (3x1 CvMat).

Definition at line 314 of file Rotation.cpp.

void alvar::Rotation::Transpose ( )

Definition at line 66 of file Rotation.cpp.

Member Data Documentation

double alvar::Rotation::quaternion[4]

Definition at line 48 of file Rotation.h.

CvMat alvar::Rotation::quaternion_mat

Definition at line 47 of file Rotation.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation