#include <rotation.h>

Public Member Functions
void	calc ()
int	getMainAxis () const
const Matrix &	getRotationAxis () const
Vector	getVariance () const
void	operator+= (const RotationAxis &r)
	RotationAxis ()
	RotationAxis (const Vector &n_old, const Vector &n_new, const Vector &var)
void	set (const Vector &n_old, const Vector &n_new, const Vector &var)
Private Types
typedef Eigen::EigenSolver < Matrix >	EigenSolver
typedef Eigen::Matrix< TYPE, 3, 3 >	Matrix
typedef Eigen::Matrix< TYPE, 3, 1 >	Vector
typedef Eigen::Matrix< TYPE, 2, 1 >	Vector2
Private Attributes
Matrix	axis_
Vector	var_
Matrix	variance_

Detailed Description

template<typename TYPE>
class DOF6::RotationAxis< TYPE >

Definition at line 69 of file rotation.h.

Member Typedef Documentation

template<typename TYPE>

typedef Eigen::EigenSolver<Matrix> DOF6::RotationAxis< TYPE >::EigenSolver [private]

Todo:: : take faster one

Definition at line 75 of file rotation.h.

template<typename TYPE>

typedef Eigen::Matrix<TYPE,3,3> DOF6::RotationAxis< TYPE >::Matrix [private]

Definition at line 71 of file rotation.h.

template<typename TYPE>

typedef Eigen::Matrix<TYPE,3,1> DOF6::RotationAxis< TYPE >::Vector [private]

Definition at line 72 of file rotation.h.

template<typename TYPE>

typedef Eigen::Matrix<TYPE,2,1> DOF6::RotationAxis< TYPE >::Vector2 [private]

Definition at line 73 of file rotation.h.

Constructor & Destructor Documentation

template<typename TYPE>

DOF6::RotationAxis< TYPE >::RotationAxis ( ) [inline]

Definition at line 85 of file rotation.h.

template<typename TYPE>

DOF6::RotationAxis< TYPE >::RotationAxis	(	const Vector &	n_old,
		const Vector &	n_new,
		const Vector &	var
	)		`[inline]`

Definition at line 92 of file rotation.h.

Member Function Documentation

template<typename TYPE>

void DOF6::RotationAxis< TYPE >::calc ( ) [inline]

alpha can be resolved from rotation angles and normals as follows: $cos \alpha = (n \cross r)(n' \cross r)$ using Lagrange-Identity follows: $cos \alpha = (n \dot n')(r \dot r) - r(n'^Tn)r^T$