diff --git a/html/3_d_2_transformation_8hpp_source.html b/html/3_d_2_transformation_8hpp_source.html index 5b1471df..a8385823 100644 --- a/html/3_d_2_transformation_8hpp_source.html +++ b/html/3_d_2_transformation_8hpp_source.html @@ -212,7 +212,7 @@
Vector.hpp
ostk::mathematics::geometry::d3::Transformation::Translation
static Transformation Translation(const Vector3d &aTranslationVector)
Definition: Transformation.cpp:259
Point.hpp
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix
Rotation matrix.
Definition: RotationMatrix.hpp:39
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix
Rotation matrix.
Definition: RotationMatrix.hpp:40
RotationVector.hpp
ostk::mathematics::geometry::d3::Transformation::RotationAround
static Transformation RotationAround(const Point &aPoint, const RotationVector &aRotationVector)
Definition: Transformation.cpp:302
ostk::mathematics::geometry::d3::Transformation::Type::Affine
@ Affine
@@ -244,7 +244,7 @@
ostk::mathematics::geometry::d3::object::Point
Point.
Definition: Point.hpp:37
ostk::mathematics::geometry::d3::Transformation::Rotation
static Transformation Rotation(const RotationVector &aRotationVector)
Definition: Transformation.cpp:274
ostk::mathematics::geometry::d3::Transformation::Type::Undefined
@ Undefined
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector
Rotation vector.
Definition: RotationVector.hpp:38
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector
Rotation Vector.
Definition: RotationVector.hpp:39
ostk::mathematics::geometry::d3::Transformation::Identity
static Transformation Identity()
Definition: Transformation.cpp:254
ostk::mathematics::geometry::d3::Transformation::Type::Identity
@ Identity
ostk::mathematics::geometry::d3::Transformation::print
virtual void print(std::ostream &anOutputStream, bool displayDecorators=true) const
Print transformation.
Definition: Transformation.cpp:236
diff --git a/html/_angle_8hpp_source.html b/html/_angle_8hpp_source.html index e3bcf534..ea7c68a5 100644 --- a/html/_angle_8hpp_source.html +++ b/html/_angle_8hpp_source.html @@ -159,91 +159,97 @@
88 
89  bool isZero() const;
90 
-
91  Angle::Unit getUnit() const;
-
92 
-
93  Real in(const Angle::Unit& aUnit) const;
-
94 
-
95  Real inRadians() const;
-
96 
-
97  Real inRadians(const Real& aLowerBound, const Real& anUpperBound) const;
98 
-
99  Real inDegrees() const;
+
99  bool isNegative() const;
100 
-
101  Real inDegrees(const Real& aLowerBound, const Real& anUpperBound) const;
-
102 
-
103  Real inArcminutes() const;
-
104 
-
105  Real inArcminutes(const Real& aLowerBound, const Real& anUpperBound) const;
-
106 
-
107  Real inArcseconds() const;
-
108 
-
109  Real inArcseconds(const Real& aLowerBound, const Real& anUpperBound) const;
-
110 
-
111  Real inRevolutions() const;
-
112 
-
113  String toString(const Integer& aPrecision = Integer::Undefined()) const;
-
114 
-
115  static Angle Undefined();
-
116 
-
117  static Angle Zero();
-
118 
-
119  static Angle HalfPi();
-
120 
-
121  static Angle Pi();
-
122 
-
123  static Angle TwoPi();
-
124 
-
125  static Angle Radians(const Real& aValue);
-
126 
-
127  static Angle Degrees(const Real& aValue);
-
128 
-
129  static Angle Arcminutes(const Real& aValue);
-
130 
-
131  static Angle Arcseconds(const Real& aValue);
-
132 
-
133  static Angle Revolutions(const Real& aValue);
-
134 
-
135  static Angle Between(const Vector2d& aFirstVector, const Vector2d& aSecondVector);
-
136 
-
137  static Angle Between(const Vector3d& aFirstVector, const Vector3d& aSecondVector);
-
138 
-
139  static Angle Parse(const String& aString);
-
140 
-
141  static String StringFromUnit(const Angle::Unit& aUnit);
-
142 
-
143  static String SymbolFromUnit(const Angle::Unit& aUnit);
-
144 
-
145  private:
-
146  Real value_;
-
147  Angle::Unit unit_;
-
148 
-
149  static Real SIRatio(const Angle::Unit& aUnit);
-
150 
-
151  static Real ReduceRange(const Real& aValue, const Real& aRangeLowerBound, const Real& aRangeUpperBound);
-
152 };
+
113 
+
114  bool isNear(const Angle& anAngle, const Angle& aTolerance) const;
+
115 
+
116  Angle::Unit getUnit() const;
+
117 
+
118  Real in(const Angle::Unit& aUnit) const;
+
119 
+
120  Real inRadians() const;
+
121 
+
122  Real inRadians(const Real& aLowerBound, const Real& anUpperBound) const;
+
123 
+
124  Real inDegrees() const;
+
125 
+
126  Real inDegrees(const Real& aLowerBound, const Real& anUpperBound) const;
+
127 
+
128  Real inArcminutes() const;
+
129 
+
130  Real inArcminutes(const Real& aLowerBound, const Real& anUpperBound) const;
+
131 
+
132  Real inArcseconds() const;
+
133 
+
134  Real inArcseconds(const Real& aLowerBound, const Real& anUpperBound) const;
+
135 
+
136  Real inRevolutions() const;
+
137 
+
138  String toString(const Integer& aPrecision = Integer::Undefined()) const;
+
139 
+
140  static Angle Undefined();
+
141 
+
142  static Angle Zero();
+
143 
+
144  static Angle HalfPi();
+
145 
+
146  static Angle Pi();
+
147 
+
148  static Angle TwoPi();
+
149 
+
150  static Angle Radians(const Real& aValue);
+
151 
+
152  static Angle Degrees(const Real& aValue);
153 
-
154 } // namespace geometry
-
155 } // namespace mathematics
-
156 } // namespace ostk
+
154  static Angle Arcminutes(const Real& aValue);
+
155 
+
156  static Angle Arcseconds(const Real& aValue);
157 
-
158 #endif
+
158  static Angle Revolutions(const Real& aValue);
+
159 
+
160  static Angle Between(const Vector2d& aFirstVector, const Vector2d& aSecondVector);
+
161 
+
162  static Angle Between(const Vector3d& aFirstVector, const Vector3d& aSecondVector);
+
163 
+
164  static Angle Parse(const String& aString);
+
165 
+
166  static String StringFromUnit(const Angle::Unit& aUnit);
+
167 
+
168  static String SymbolFromUnit(const Angle::Unit& aUnit);
+
169 
+
170  private:
+
171  Real value_;
+
172  Angle::Unit unit_;
+
173 
+
174  static Real SIRatio(const Angle::Unit& aUnit);
+
175 
+
176  static Real ReduceRange(const Real& aValue, const Real& aRangeLowerBound, const Real& aRangeUpperBound);
+
177 };
+
178 
+
179 } // namespace geometry
+
180 } // namespace mathematics
+
181 } // namespace ostk
+
182 
+
183 #endif
ostk::mathematics::geometry::Angle::operator*
Angle operator*(const Real &aReal) const
Definition: Angle.cpp:103
-
ostk::mathematics::geometry::Angle::StringFromUnit
static String StringFromUnit(const Angle::Unit &aUnit)
Definition: Angle.cpp:532
-
ostk::mathematics::geometry::Angle::inArcseconds
Real inArcseconds() const
Definition: Angle.cpp:363
-
ostk::mathematics::geometry::Angle::Degrees
static Angle Degrees(const Real &aValue)
Definition: Angle.cpp:433
+
ostk::mathematics::geometry::Angle::StringFromUnit
static String StringFromUnit(const Angle::Unit &aUnit)
Definition: Angle.cpp:563
+
ostk::mathematics::geometry::Angle::inArcseconds
Real inArcseconds() const
Definition: Angle.cpp:394
+
ostk::mathematics::geometry::Angle::Degrees
static Angle Degrees(const Real &aValue)
Definition: Angle.cpp:464
Vector.hpp
ostk::mathematics::geometry::Angle::Unit::Revolution
@ Revolution
Revolution.
ostk::mathematics::geometry::Angle::operator!=
bool operator!=(const Angle &anAngle) const
Definition: Angle.cpp:78
-
ostk::mathematics::geometry::Angle::in
Real in(const Angle::Unit &aUnit) const
Definition: Angle.cpp:273
+
ostk::mathematics::geometry::Angle::in
Real in(const Angle::Unit &aUnit) const
Definition: Angle.cpp:304
ostk::mathematics::geometry::Angle::Angle
Angle(const Real &aValue, const Angle::Unit &aUnit)
Constructor.
Definition: Angle.cpp:15
-
ostk::mathematics::geometry::Angle::SymbolFromUnit
static String SymbolFromUnit(const Angle::Unit &aUnit)
Definition: Angle.cpp:562
+
ostk::mathematics::geometry::Angle::SymbolFromUnit
static String SymbolFromUnit(const Angle::Unit &aUnit)
Definition: Angle.cpp:593
ostk::mathematics::geometry::Angle::operator*=
Angle & operator*=(const Real &aReal)
Definition: Angle.cpp:162
ostk::mathematics::geometry::Angle::Unit
Unit
Definition: Angle.hpp:36
ostk::mathematics::geometry::Angle::isZero
bool isZero() const
Definition: Angle.cpp:253
-
ostk::mathematics::geometry::Angle::Pi
static Angle Pi()
Definition: Angle.cpp:418
-
ostk::mathematics::geometry::Angle::inRadians
Real inRadians() const
Definition: Angle.cpp:288
+
ostk::mathematics::geometry::Angle::Pi
static Angle Pi()
Definition: Angle.cpp:449
+
ostk::mathematics::geometry::Angle::inRadians
Real inRadians() const
Definition: Angle.cpp:319
ostk::mathematics::geometry::Angle::operator-=
Angle & operator-=(const Angle &anAngle)
Definition: Angle.cpp:150
ostk::mathematics::geometry::Angle::operator/
Angle operator/(const Real &aReal) const
Definition: Angle.cpp:118
ostk::mathematics::geometry::Angle::operator<<
friend std::ostream & operator<<(std::ostream &anOutputStream, const Angle &anAngle)
Definition: Angle.cpp:236
@@ -251,31 +257,33 @@
ostk::mathematics::geometry::Angle::Unit::Arcsecond
@ Arcsecond
Arcsecond.
ostk::mathematics::object::Vector2d
Eigen::Vector2d Vector2d
Definition: Vector.hpp:37
ostk::mathematics::geometry::Angle::Parse
static Angle Parse(const String &aString)
-
ostk::mathematics::geometry::Angle::Undefined
static Angle Undefined()
Definition: Angle.cpp:403
+
ostk::mathematics::geometry::Angle::Undefined
static Angle Undefined()
Definition: Angle.cpp:434
ostk::mathematics::geometry::Angle::Unit::Radian
@ Radian
Radian.
-
ostk::mathematics::geometry::Angle::Radians
static Angle Radians(const Real &aValue)
Definition: Angle.cpp:428
+
ostk::mathematics::geometry::Angle::Radians
static Angle Radians(const Real &aValue)
Definition: Angle.cpp:459
ostk::mathematics::geometry::Angle
Angle.
Definition: Angle.hpp:33
ostk::mathematics::object::Vector3d
Eigen::Vector3d Vector3d
Definition: Vector.hpp:38
ostk
Apache License 2.0.
Definition: BarycentricRational.hpp:14
-
ostk::mathematics::geometry::Angle::Zero
static Angle Zero()
Definition: Angle.cpp:408
-
ostk::mathematics::geometry::Angle::inArcminutes
Real inArcminutes() const
Definition: Angle.cpp:338
+
ostk::mathematics::geometry::Angle::Zero
static Angle Zero()
Definition: Angle.cpp:439
+
ostk::mathematics::geometry::Angle::inArcminutes
Real inArcminutes() const
Definition: Angle.cpp:369
ostk::mathematics::geometry::Angle::operator+
Angle operator+() const
Definition: Angle.cpp:216
+
ostk::mathematics::geometry::Angle::isNear
bool isNear(const Angle &anAngle, const Angle &aTolerance) const
Check if angles are near within an angular tolerance.
Definition: Angle.cpp:273
ostk::mathematics::geometry::Angle::isDefined
bool isDefined() const
Definition: Angle.cpp:248
ostk::mathematics::geometry::Angle::Unit::Degree
@ Degree
Degree.
-
ostk::mathematics::geometry::Angle::Between
static Angle Between(const Vector2d &aFirstVector, const Vector2d &aSecondVector)
Definition: Angle.cpp:458
-
ostk::mathematics::geometry::Angle::toString
String toString(const Integer &aPrecision=Integer::Undefined()) const
Definition: Angle.cpp:393
-
ostk::mathematics::geometry::Angle::inDegrees
Real inDegrees() const
Definition: Angle.cpp:313
-
ostk::mathematics::geometry::Angle::Arcseconds
static Angle Arcseconds(const Real &aValue)
Definition: Angle.cpp:443
+
ostk::mathematics::geometry::Angle::Between
static Angle Between(const Vector2d &aFirstVector, const Vector2d &aSecondVector)
Definition: Angle.cpp:489
+
ostk::mathematics::geometry::Angle::toString
String toString(const Integer &aPrecision=Integer::Undefined()) const
Definition: Angle.cpp:424
+
ostk::mathematics::geometry::Angle::inDegrees
Real inDegrees() const
Definition: Angle.cpp:344
+
ostk::mathematics::geometry::Angle::Arcseconds
static Angle Arcseconds(const Real &aValue)
Definition: Angle.cpp:474
ostk::mathematics::geometry::Angle::Unit::Undefined
@ Undefined
Undefined.
-
ostk::mathematics::geometry::Angle::Revolutions
static Angle Revolutions(const Real &aValue)
Definition: Angle.cpp:448
-
ostk::mathematics::geometry::Angle::getUnit
Angle::Unit getUnit() const
Definition: Angle.cpp:263
+
ostk::mathematics::geometry::Angle::Revolutions
static Angle Revolutions(const Real &aValue)
Definition: Angle.cpp:479
+
ostk::mathematics::geometry::Angle::getUnit
Angle::Unit getUnit() const
Definition: Angle.cpp:294
ostk::mathematics::geometry::Angle::Unit::Arcminute
@ Arcminute
Arcminute.
ostk::mathematics::geometry::Angle::operator==
bool operator==(const Angle &anAngle) const
Definition: Angle.cpp:21
-
ostk::mathematics::geometry::Angle::HalfPi
static Angle HalfPi()
Definition: Angle.cpp:413
-
ostk::mathematics::geometry::Angle::inRevolutions
Real inRevolutions() const
Definition: Angle.cpp:388
+
ostk::mathematics::geometry::Angle::HalfPi
static Angle HalfPi()
Definition: Angle.cpp:444
+
ostk::mathematics::geometry::Angle::inRevolutions
Real inRevolutions() const
Definition: Angle.cpp:419
ostk::mathematics::geometry::Angle::operator+=
Angle & operator+=(const Angle &anAngle)
Definition: Angle.cpp:138
-
ostk::mathematics::geometry::Angle::Arcminutes
static Angle Arcminutes(const Real &aValue)
Definition: Angle.cpp:438
-
ostk::mathematics::geometry::Angle::TwoPi
static Angle TwoPi()
Definition: Angle.cpp:423
+
ostk::mathematics::geometry::Angle::Arcminutes
static Angle Arcminutes(const Real &aValue)
Definition: Angle.cpp:469
+
ostk::mathematics::geometry::Angle::isNegative
bool isNegative() const
Check if angle is negative.
Definition: Angle.cpp:263
+
ostk::mathematics::geometry::Angle::TwoPi
static Angle TwoPi()
Definition: Angle.cpp:454
ostk::mathematics::geometry::Angle::operator-
Angle operator-() const
Definition: Angle.cpp:226
diff --git a/html/_cuboid_8hpp_source.html b/html/_cuboid_8hpp_source.html index 0f4773f8..32bc4108 100644 --- a/html/_cuboid_8hpp_source.html +++ b/html/_cuboid_8hpp_source.html @@ -260,35 +260,35 @@
Segment.hpp
Point.hpp
ostk::mathematics::geometry::d3::object::Cuboid::Vertex
Point Vertex
Definition: Cuboid.hpp:49
-
ostk::mathematics::geometry::d3::object::Cuboid::print
virtual void print(std::ostream &anOutputStream, bool displayDecorators=true) const override
Print cuboid.
Definition: Cuboid.cpp:433
+
ostk::mathematics::geometry::d3::object::Cuboid::print
virtual void print(std::ostream &anOutputStream, bool displayDecorators=true) const override
Print cuboid.
Definition: Cuboid.cpp:438
ostk::mathematics::geometry::d3::object::Segment
Segment.
Definition: Segment.hpp:42
-
ostk::mathematics::geometry::d3::object::Cuboid::getSecondExtent
Real getSecondExtent() const
Get cuboid second extent.
Definition: Cuboid.cpp:386
-
ostk::mathematics::geometry::d3::object::Cuboid::contains
bool contains(const Point &aPoint) const
Check if cuboid contains point.
Definition: Cuboid.cpp:278
-
ostk::mathematics::geometry::d3::object::Cuboid::Cube
static Cuboid Cube(const Point &aCenter, const Real &anExtent)
Constructs a a cube.
Definition: Cuboid.cpp:500
-
ostk::mathematics::geometry::d3::object::Cuboid::getFirstAxis
Vector3d getFirstAxis() const
Get cuboid first axis.
Definition: Cuboid.cpp:346
-
ostk::mathematics::geometry::d3::object::Cuboid::getFirstExtent
Real getFirstExtent() const
Get cuboid first extent.
Definition: Cuboid.cpp:376
+
ostk::mathematics::geometry::d3::object::Cuboid::getSecondExtent
Real getSecondExtent() const
Get cuboid second extent.
Definition: Cuboid.cpp:391
+
ostk::mathematics::geometry::d3::object::Cuboid::contains
bool contains(const Point &aPoint) const
Check if cuboid contains point.
Definition: Cuboid.cpp:283
+
ostk::mathematics::geometry::d3::object::Cuboid::Cube
static Cuboid Cube(const Point &aCenter, const Real &anExtent)
Constructs a a cube.
Definition: Cuboid.cpp:505
+
ostk::mathematics::geometry::d3::object::Cuboid::getFirstAxis
Vector3d getFirstAxis() const
Get cuboid first axis.
Definition: Cuboid.cpp:351
+
ostk::mathematics::geometry::d3::object::Cuboid::getFirstExtent
Real getFirstExtent() const
Get cuboid first extent.
Definition: Cuboid.cpp:381
ostk::mathematics::geometry::d3::object::Line
Line.
Definition: Line.hpp:37
-
ostk::mathematics::geometry::d3::object::Cuboid::getCenter
Point getCenter() const
Get cuboid center.
Definition: Cuboid.cpp:336
-
ostk::mathematics::geometry::d3::object::Cuboid::getSecondAxis
Vector3d getSecondAxis() const
Get cuboid second axis.
Definition: Cuboid.cpp:356
+
ostk::mathematics::geometry::d3::object::Cuboid::getCenter
Point getCenter() const
Get cuboid center.
Definition: Cuboid.cpp:341
+
ostk::mathematics::geometry::d3::object::Cuboid::getSecondAxis
Vector3d getSecondAxis() const
Get cuboid second axis.
Definition: Cuboid.cpp:361
ostk::mathematics::geometry::d3::object::Cuboid::Edge
Segment Edge
Definition: Cuboid.hpp:50
ostk::mathematics::geometry::d3::Object
3D object
Definition: Object.hpp:22
-
ostk::mathematics::geometry::d3::object::Cuboid::isDefined
virtual bool isDefined() const override
Check if cuboid is defined.
Definition: Cuboid.cpp:146
+
ostk::mathematics::geometry::d3::object::Cuboid::isDefined
virtual bool isDefined() const override
Check if cuboid is defined.
Definition: Cuboid.cpp:151
ostk::mathematics::geometry::d3::object::Cuboid::clone
virtual Cuboid * clone() const override
Clone cuboid.
Definition: Cuboid.cpp:62
-
ostk::mathematics::geometry::d3::object::Cuboid::intersects
bool intersects(const Point &aPoint) const
Check if cuboid intersects point.
Definition: Cuboid.cpp:172
+
ostk::mathematics::geometry::d3::object::Cuboid::intersects
bool intersects(const Point &aPoint) const
Check if cuboid intersects point.
Definition: Cuboid.cpp:177
ostk::mathematics::geometry::d3::Transformation
Definition: Transformation.hpp:38
ostk::mathematics::object::Vector3d
Eigen::Vector3d Vector3d
Definition: Vector.hpp:38
ostk
Apache License 2.0.
Definition: BarycentricRational.hpp:14
-
ostk::mathematics::geometry::d3::object::Cuboid::getThirdExtent
Real getThirdExtent() const
Get cuboid third extent.
Definition: Cuboid.cpp:396
-
ostk::mathematics::geometry::d3::object::Cuboid::isNear
bool isNear(const Cuboid &aCuboid, const Real &aTolerance) const
Check if cuboid is near another cuboid.
Definition: Cuboid.cpp:152
+
ostk::mathematics::geometry::d3::object::Cuboid::getThirdExtent
Real getThirdExtent() const
Get cuboid third extent.
Definition: Cuboid.cpp:401
+
ostk::mathematics::geometry::d3::object::Cuboid::isNear
bool isNear(const Cuboid &aCuboid, const Real &aTolerance) const
Check if cuboid is near another cuboid.
Definition: Cuboid.cpp:157
ostk::mathematics::geometry::d3::object::Point
Point.
Definition: Point.hpp:37
ostk::mathematics::geometry::d3::object::Cuboid
Cuboid.
Definition: Cuboid.hpp:46
ostk::mathematics::geometry::d3::object::Ray
Ray.
Definition: Ray.hpp:43
-
ostk::mathematics::geometry::d3::object::Cuboid::applyTransformation
virtual void applyTransformation(const Transformation &aTransformation) override
Apply transformation to cuboid.
Definition: Cuboid.cpp:457
+
ostk::mathematics::geometry::d3::object::Cuboid::applyTransformation
virtual void applyTransformation(const Transformation &aTransformation) override
Apply transformation to cuboid.
Definition: Cuboid.cpp:462
ostk::mathematics::geometry::d3::object::Cuboid::operator==
bool operator==(const Cuboid &aCuboid) const
Equal to operator.
Definition: Cuboid.cpp:67
-
ostk::mathematics::geometry::d3::object::Cuboid::getVertices
Array< Cuboid::Vertex > getVertices() const
Get cuboid vertices.
Definition: Cuboid.cpp:406
-
ostk::mathematics::geometry::d3::object::Cuboid::operator!=
bool operator!=(const Cuboid &aCuboid) const
Not equal to operator.
Definition: Cuboid.cpp:141
-
ostk::mathematics::geometry::d3::object::Cuboid::getThirdAxis
Vector3d getThirdAxis() const
Get cuboid third axis.
Definition: Cuboid.cpp:366
-
ostk::mathematics::geometry::d3::object::Cuboid::Undefined
static Cuboid Undefined()
Constructs an undefined cuboid.
Definition: Cuboid.cpp:491
+
ostk::mathematics::geometry::d3::object::Cuboid::getVertices
Array< Cuboid::Vertex > getVertices() const
Get cuboid vertices.
Definition: Cuboid.cpp:411
+
ostk::mathematics::geometry::d3::object::Cuboid::operator!=
bool operator!=(const Cuboid &aCuboid) const
Not equal to operator.
Definition: Cuboid.cpp:146
+
ostk::mathematics::geometry::d3::object::Cuboid::getThirdAxis
Vector3d getThirdAxis() const
Get cuboid third axis.
Definition: Cuboid.cpp:371
+
ostk::mathematics::geometry::d3::object::Cuboid::Undefined
static Cuboid Undefined()
Constructs an undefined cuboid.
Definition: Cuboid.cpp:496
ostk::mathematics::geometry::d3::object::Cuboid::intersectionWith
Intersection intersectionWith(const Line &aLine) const
Compute intersection of cuboid with line.
ostk::mathematics::geometry::d3::object::PointSet
Point set.
Definition: PointSet.hpp:36
diff --git a/html/_ellipsoid_8hpp_source.html b/html/_ellipsoid_8hpp_source.html index 8e8aa37a..eb4bb1af 100644 --- a/html/_ellipsoid_8hpp_source.html +++ b/html/_ellipsoid_8hpp_source.html @@ -276,7 +276,7 @@
Quaternion.hpp
ostk::mathematics::geometry::d3::object::Ellipsoid::getSecondPrincipalSemiAxis
Real getSecondPrincipalSemiAxis() const
Get ellipsoid second principal semi-axis.
Definition: Ellipsoid.cpp:529
ostk::mathematics::geometry::d3::object::Ellipsoid::getFirstAxis
Vector3d getFirstAxis() const
Get ellipsoid first axis.
Definition: Ellipsoid.cpp:549
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion
Quaternion.
Definition: Quaternion.hpp:47
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion
Quaternion.
Definition: Quaternion.hpp:48
ostk::mathematics::geometry::d3::object::Line
Line.
Definition: Line.hpp:37
ostk::mathematics::geometry::d3::object::Ellipsoid::print
virtual void print(std::ostream &anOutputStream, bool displayDecorators=true) const override
Print ellipsoid.
Definition: Ellipsoid.cpp:900
ostk::mathematics::geometry::d3::Object
3D object
Definition: Object.hpp:22
diff --git a/html/_euler_angle_8cpp.html b/html/_euler_angle_8cpp.html new file mode 100644 index 00000000..ff9a977d --- /dev/null +++ b/html/_euler_angle_8cpp.html @@ -0,0 +1,128 @@ + + + + + + + +OpenSpaceToolkitMathematics: Documentation + + + + + + + + + + + + + + + +
+
+
+ + + + + + +
+ + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Namespaces | +Functions
+
+
EulerAngle.cpp File Reference
+
+
+
#include <OpenSpaceToolkit/Core/Error.hpp>
+#include <OpenSpaceToolkit/Core/Utility.hpp>
+#include <OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.hpp>
+#include <OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/Quaternion.hpp>
+#include <OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationMatrix.hpp>
+#include <OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationVector.hpp>
+
+ + + + + + + + + + + + + + +

+Namespaces

 ostk
 Apache License 2.0.
 
 ostk::mathematics
 
 ostk::mathematics::geometry
 
 ostk::mathematics::geometry::d3
 
 ostk::mathematics::geometry::d3::transformation
 
 ostk::mathematics::geometry::d3::transformation::rotation
 
+ + + +

+Functions

std::ostream & ostk::mathematics::geometry::d3::transformation::rotation::operator<< (std::ostream &anOutputStream, const EulerAngle &aEulerAngle)
 
+
+
+ + + + + diff --git a/html/_euler_angle_8cpp.js b/html/_euler_angle_8cpp.js new file mode 100644 index 00000000..1a2d9c1b --- /dev/null +++ b/html/_euler_angle_8cpp.js @@ -0,0 +1,4 @@ +var _euler_angle_8cpp = +[ + [ "operator<<", "_euler_angle_8cpp.html#a4039583c5e12d44db90af36b8420cffd", null ] +]; \ No newline at end of file diff --git a/html/_euler_angle_8hpp.html b/html/_euler_angle_8hpp.html index 3b75e4ee..b5390e11 100644 --- a/html/_euler_angle_8hpp.html +++ b/html/_euler_angle_8hpp.html @@ -81,14 +81,26 @@
+Classes | Namespaces
EulerAngle.hpp File Reference
- +
#include <OpenSpaceToolkit/Core/Type/Integer.hpp>
+#include <OpenSpaceToolkit/Core/Type/Real.hpp>
+#include <OpenSpaceToolkit/Core/Type/String.hpp>
+#include <OpenSpaceToolkit/Mathematics/Geometry/Angle.hpp>
+#include <OpenSpaceToolkit/Mathematics/Object/Vector.hpp>
+

Go to the source code of this file.

+ + + + +

+Classes

class  ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
 Euler Angle (intrinsic rotation) More...
 
diff --git a/html/_euler_angle_8hpp_source.html b/html/_euler_angle_8hpp_source.html index dc01d9ce..ab401c02 100644 --- a/html/_euler_angle_8hpp_source.html +++ b/html/_euler_angle_8hpp_source.html @@ -88,30 +88,188 @@
3 #ifndef __OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle__
4 #define __OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle__
5 
-
6 namespace ostk
-
7 {
-
8 namespace mathematics
-
9 {
-
10 namespace geometry
-
11 {
-
12 namespace d3
-
13 {
-
14 namespace transformation
-
15 {
-
16 namespace rotation
-
17 {
-
18 
-
19 }
-
20 } // namespace transformation
-
21 } // namespace d3
-
22 } // namespace geometry
-
23 } // namespace mathematics
-
24 } // namespace ostk
+
6 #include <OpenSpaceToolkit/Core/Type/Integer.hpp>
+
7 #include <OpenSpaceToolkit/Core/Type/Real.hpp>
+
8 #include <OpenSpaceToolkit/Core/Type/String.hpp>
+
9 
+
10 #include <OpenSpaceToolkit/Mathematics/Geometry/Angle.hpp>
+
11 #include <OpenSpaceToolkit/Mathematics/Object/Vector.hpp>
+
12 
+
13 namespace ostk
+
14 {
+
15 namespace mathematics
+
16 {
+
17 namespace geometry
+
18 {
+
19 namespace d3
+
20 {
+
21 namespace transformation
+
22 {
+
23 namespace rotation
+
24 {
25 
-
26 #endif
+
26 using ostk::core::type::Integer;
+
27 using ostk::core::type::Real;
+
28 using ostk::core::type::String;
+
29 
+
30 using ostk::mathematics::geometry::Angle;
+
31 using ostk::mathematics::object::Vector3d;
+
32 using ostk::mathematics::object::Vector4d;
+
33 
+
34 class RotationMatrix;
+
35 class Quaternion;
+
36 class RotationVector;
+
37 
+
45 
+
46 class EulerAngle
+
47 {
+
48  public:
+
49  enum class AxisSequence
+
50  {
+
51 
+
52  Undefined,
+
53  XYZ,
+
54  ZXY,
+
55  ZYX
+
56 
+
57  };
+
58 
+
74 
+
75  EulerAngle(
+
76  const Angle& aFirstAngle,
+
77  const Angle& aSecondAngle,
+
78  const Angle& aThirdAngle,
+
79  const EulerAngle::AxisSequence& anAxisSequence
+
80  );
+
81 
+
95 
+
96  EulerAngle(const Vector3d& aVector, const Angle::Unit& anAngleUnit, const EulerAngle::AxisSequence& anAxisSequence);
+
97 
+
106 
+
107  bool operator==(const EulerAngle& aEulerAngle) const;
+
108 
+
117 
+
118  bool operator!=(const EulerAngle& aEulerAngle) const;
+
119 
+
129 
+
130  friend std::ostream& operator<<(std::ostream& anOutputStream, const EulerAngle& aEulerAngle);
+
131 
+
139 
+
140  bool isDefined() const;
+
141 
+
149 
+
150  bool isUnitary() const;
+
151 
+
165 
+
166  bool isNear(const EulerAngle& aEulerAngle, const Angle& anAngularTolerance) const;
+
167 
+
175 
+
176  Angle getPhi() const;
+
177 
+
185 
+
186  Angle getTheta() const;
+
187 
+
195 
+
196  Angle getPsi() const;
+
197 
+
205 
+
206  AxisSequence getAxisSequence() const;
+
207 
+
216 
+
217  Vector3d toVector(const Angle::Unit& anAngleUnit) const;
+
218 
+
227 
+
228  String toString(const Angle::Unit& anAngleUnit = Angle::Unit::Degree) const;
+
229 
+
237 
+
238  static EulerAngle Undefined();
+
239 
+
247 
+
248  static EulerAngle Unit();
+
249 
+
264 
+
265  static EulerAngle XYZ(const Angle& aFirstAngle, const Angle& aSecondAngle, const Angle& aThirdAngle);
+
266 
+
281 
+
282  static EulerAngle ZXY(const Angle& aFirstAngle, const Angle& aSecondAngle, const Angle& aThirdAngle);
+
283 
+
298 
+
299  static EulerAngle ZYX(const Angle& aFirstAngle, const Angle& aSecondAngle, const Angle& aThirdAngle);
+
300 
+
313 
+
314  static EulerAngle Quaternion(
+
315  const rotation::Quaternion& aQuaternion, const EulerAngle::AxisSequence& anAxisSequence
+
316  );
+
317 
+
330 
+
331  static EulerAngle RotationVector(
+
332  const rotation::RotationVector& aRotationVector, const EulerAngle::AxisSequence& anAxisSequence
+
333  );
+
334 
+
347 
+
348  static EulerAngle RotationMatrix(
+
349  const rotation::RotationMatrix& aRotationMatrix, const EulerAngle::AxisSequence& anAxisSequence
+
350  );
+
351 
+
360 
+
361  static String StringFromAxisSequence(const EulerAngle::AxisSequence& anAxisSequence);
+
362 
+
363  private:
+
364  Angle phi_;
+
365  Angle theta_;
+
366  Angle psi_;
+
367 
+
368  EulerAngle::AxisSequence axisSequence_;
+
369 };
+
370 } // namespace rotation
+
371 } // namespace transformation
+
372 } // namespace d3
+
373 } // namespace geometry
+
374 } // namespace mathematics
+
375 } // namespace ostk
+
376 
+
377 #endif
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::isUnitary
bool isUnitary() const
Check if Euler Angle is unitary.
Definition: EulerAngle.cpp:105
+
Vector.hpp
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::XYZ
static EulerAngle XYZ(const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle)
Construct Euler Angle from angles following XYZ sequence.
Definition: EulerAngle.cpp:191
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Unit
static EulerAngle Unit()
Construct unitary Euler Angle.
Definition: EulerAngle.cpp:186
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix
Rotation matrix.
Definition: RotationMatrix.hpp:40
+
Angle.hpp
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Quaternion
static EulerAngle Quaternion(const rotation::Quaternion &aQuaternion, const EulerAngle::AxisSequence &anAxisSequence)
Construct Euler Angle from Rotation Matrix.
Definition: EulerAngle.cpp:206
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::toString
String toString(const Angle::Unit &anAngleUnit=Angle::Unit::Degree) const
Return string form of Euler Angle [phi; theta; psi].
Definition: EulerAngle.cpp:165
+
ostk::mathematics::geometry::Angle::Unit
Unit
Definition: Angle.hpp:36
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::ZYX
static EulerAngle ZYX(const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle)
Construct Euler Angle from angles following ZYX sequence.
Definition: EulerAngle.cpp:201
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::getPhi
Angle getPhi() const
Get first angle of rotation (phi)
Definition: EulerAngle.cpp:115
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::getAxisSequence
AxisSequence getAxisSequence() const
Get axis sequence.
Definition: EulerAngle.cpp:145
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion
Quaternion.
Definition: Quaternion.hpp:48
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::AxisSequence::ZXY
@ ZXY
Z -> X -> Y sequence.
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::AxisSequence
AxisSequence
Definition: EulerAngle.hpp:49
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::isDefined
bool isDefined() const
Check if Euler Angle is defined.
Definition: EulerAngle.cpp:99
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::operator!=
bool operator!=(const EulerAngle &aEulerAngle) const
Not equal to operator.
Definition: EulerAngle.cpp:74
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::AxisSequence::Undefined
@ Undefined
Undefined sequence.
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::getPsi
Angle getPsi() const
Get third angle of rotation (psi)
Definition: EulerAngle.cpp:135
+
ostk::mathematics::geometry::Angle
Angle.
Definition: Angle.hpp:33
+
ostk::mathematics::object::Vector3d
Eigen::Vector3d Vector3d
Definition: Vector.hpp:38
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
Euler Angle (intrinsic rotation)
Definition: EulerAngle.hpp:46
ostk
Apache License 2.0.
Definition: BarycentricRational.hpp:14
+
ostk::mathematics::object::Vector4d
Eigen::Vector4d Vector4d
Definition: Vector.hpp:39
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::AxisSequence::ZYX
@ ZYX
Z -> Y -> X sequence.
+
ostk::mathematics::geometry::Angle::Unit::Degree
@ Degree
Degree.
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector
Rotation Vector.
Definition: RotationVector.hpp:39
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::RotationVector
static EulerAngle RotationVector(const rotation::RotationVector &aRotationVector, const EulerAngle::AxisSequence &anAxisSequence)
Construct Euler Angle from Quaternion.
Definition: EulerAngle.cpp:255
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::ZXY
static EulerAngle ZXY(const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle)
Construct Euler Angle from angles following ZXY sequence.
Definition: EulerAngle.cpp:196
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::operator==
bool operator==(const EulerAngle &aEulerAngle) const
Equal to operator.
Definition: EulerAngle.cpp:47
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::StringFromAxisSequence
static String StringFromAxisSequence(const EulerAngle::AxisSequence &anAxisSequence)
Construct a string representation of an axis sequence.
Definition: EulerAngle.cpp:316
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Undefined
static EulerAngle Undefined()
Construct undefined Euler Angle.
Definition: EulerAngle.cpp:181
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::AxisSequence::XYZ
@ XYZ
X -> Y -> Z sequence.
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::EulerAngle
EulerAngle(const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle, const EulerAngle::AxisSequence &anAxisSequence)
Construct Euler Angle from angles and axis sequence.
Definition: EulerAngle.cpp:24
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::getTheta
Angle getTheta() const
Get second angle of rotation (theta)
Definition: EulerAngle.cpp:125
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::toVector
Vector3d toVector(const Angle::Unit &anAngleUnit) const
Return vector containing the three angles.
Definition: EulerAngle.cpp:155
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::isNear
bool isNear(const EulerAngle &aEulerAngle, const Angle &anAngularTolerance) const
Check if Euler Angle is equal to another Euler Angle within a given angular tolerance.
Definition: EulerAngle.cpp:110
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::operator<<
friend std::ostream & operator<<(std::ostream &anOutputStream, const EulerAngle &aEulerAngle)
Output stream operator.
Definition: EulerAngle.cpp:79
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::RotationMatrix
static EulerAngle RotationMatrix(const rotation::RotationMatrix &aRotationMatrix, const EulerAngle::AxisSequence &anAxisSequence)
Construct Euler Angle from Rotation Vector.
Definition: EulerAngle.cpp:262
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::getScalarPart
Real getScalarPart() const
Get scalar part.
Definition: Quaternion.cpp:239
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::getScalarPart
Real getScalarPart() const
Get scalar part.
Definition: Quaternion.cpp:240
Vector.hpp
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::x
Real x() const
Get first component of vector part.
Definition: Quaternion.cpp:189
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix
Rotation matrix.
Definition: RotationMatrix.hpp:39
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::crossMultiply
Quaternion crossMultiply(const Quaternion &aQuaternion) const
Get quaternion norm.
Definition: Quaternion.cpp:311
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator^
Quaternion operator^(const Real &aScalar) const
Power operator (quaternion)
Definition: Quaternion.cpp:106
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::x
Real x() const
Get first component of vector part.
Definition: Quaternion.cpp:190
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix
Rotation matrix.
Definition: RotationMatrix.hpp:40
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::crossMultiply
Quaternion crossMultiply(const Quaternion &aQuaternion) const
Multiply Quaternion using cross multiplication.
Definition: Quaternion.cpp:312
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toConjugate
Quaternion toConjugate() const
Calculate conjugate of Quaternion.
Definition: Quaternion.cpp:255
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator^
Quaternion operator^(const Real &aScalar) const
Power operator (Quaternion)
Definition: Quaternion.cpp:107
Angle.hpp
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator==
bool operator==(const Quaternion &aQuaternion) const
Equal to operator.
Definition: Quaternion.cpp:53
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Quaternion
Quaternion(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent, const Quaternion::Format &aFormat)
Constructor.
Definition: Quaternion.cpp:23
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator/
Quaternion operator/(const Quaternion &aQuaternion) const
Division operator (quaternion)
Definition: Quaternion.cpp:96
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::dotMultiply
Quaternion dotMultiply(const Quaternion &aQuaternion) const
Multiply quaternion using dot multiplication.
Definition: Quaternion.cpp:326
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::exp
Quaternion exp() const
Get normalized quaternion.
Definition: Quaternion.cpp:264
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::angularDifferenceWith
Angle angularDifferenceWith(const Quaternion &aQuaternion) const
Get angular difference with quaternion.
Definition: Quaternion.cpp:470
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::RotationVector
static Quaternion RotationVector(const rotation::RotationVector &aRotationVector)
Constructs a quaternion from a rotation vector.
Definition: Quaternion.cpp:499
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::log
Quaternion log() const
Get logarithm.
Definition: Quaternion.cpp:279
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::ShortestRotation
static Quaternion ShortestRotation(const Vector3d &aFirstVector, const Vector3d &aSecondVector)
Constructs a quaternion describing the shortest rotation between two vectors.
Definition: Quaternion.cpp:591
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Undefined
static Quaternion Undefined()
Constructs an undefined quaternion.
Definition: Quaternion.cpp:482
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion
Quaternion.
Definition: Quaternion.hpp:47
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator*=
Quaternion & operator*=(const Quaternion &aQuaternion)
Multiplication assignment operator (quaternion)
Definition: Quaternion.cpp:126
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::isNear
bool isNear(const Quaternion &aQuaternion, const Angle &anAngularTolerance) const
Check if quaternion is near a given quaternion.
Definition: Quaternion.cpp:178
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::isUnitary
bool isUnitary() const
Check if quaternion is unitary, i.e. its norm is equal to 1.0.
Definition: Quaternion.cpp:168
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::norm
Real norm() const
Calculate norm of Quaternion.
Definition: Quaternion.cpp:302
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator==
bool operator==(const Quaternion &aQuaternion) const
Equal to operator.
Definition: Quaternion.cpp:54
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Quaternion
Quaternion(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent, const Quaternion::Format &aFormat)
Constructor.
Definition: Quaternion.cpp:24
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator+
Quaternion operator+(const Quaternion &aQuaternion) const
Addition operator.
Definition: Quaternion.cpp:70
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator/
Quaternion operator/(const Quaternion &aQuaternion) const
Division operator (Quaternion)
Definition: Quaternion.cpp:97
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::dotMultiply
Quaternion dotMultiply(const Quaternion &aQuaternion) const
Multiply Quaternion using dot multiplication.
Definition: Quaternion.cpp:327
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::exp
Quaternion exp() const
Calculate exponential of Quaternion.
Definition: Quaternion.cpp:265
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::angularDifferenceWith
Angle angularDifferenceWith(const Quaternion &aQuaternion) const
Compute angular difference with Quaternion.
Definition: Quaternion.cpp:471
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::RotationVector
static Quaternion RotationVector(const rotation::RotationVector &aRotationVector)
Construct Quaternion from rotation vector.
Definition: Quaternion.cpp:500
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::log
Quaternion log() const
Calculate logarithm of Quaternion.
Definition: Quaternion.cpp:280
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::ShortestRotation
static Quaternion ShortestRotation(const Vector3d &aFirstVector, const Vector3d &aSecondVector)
Construct Quaternion describing the shortest rotation between two vectors.
Definition: Quaternion.cpp:655
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Undefined
static Quaternion Undefined()
Construct undefined Quaternion.
Definition: Quaternion.cpp:483
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion
Quaternion.
Definition: Quaternion.hpp:48
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator*=
Quaternion & operator*=(const Quaternion &aQuaternion)
Multiplication assignment operator (Quaternion)
Definition: Quaternion.cpp:127
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::isNear
bool isNear(const Quaternion &aQuaternion, const Angle &anAngularTolerance) const
Check if Quaternion is near another Quaternion.
Definition: Quaternion.cpp:179
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toNormalized
Quaternion toNormalized() const
Calculate normalized Quaternion.
Definition: Quaternion.cpp:250
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::isUnitary
bool isUnitary() const
Check if Quaternion is unitary (i.e., its norm is equal to 1.0)
Definition: Quaternion.cpp:169
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Format::SXYZ
@ SXYZ
Scalar-vector format.
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::isDefined
bool isDefined() const
Check if quaternion is defined.
Definition: Quaternion.cpp:163
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::getVectorPart
Vector3d getVectorPart() const
Get vector part.
Definition: Quaternion.cpp:229
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator/=
Quaternion & operator/=(const Quaternion &aQuaternion)
Division assignment operator (quaternion)
Definition: Quaternion.cpp:133
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::isDefined
bool isDefined() const
Check if Quaternion is defined.
Definition: Quaternion.cpp:164
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::getVectorPart
Vector3d getVectorPart() const
Get vector part.
Definition: Quaternion.cpp:230
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator/=
Quaternion & operator/=(const Quaternion &aQuaternion)
Division assignment operator (Quaternion)
Definition: Quaternion.cpp:134
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Format::XYZS
@ XYZS
Vector-scalar format.
ostk::mathematics::geometry::Angle
Angle.
Definition: Angle.hpp:33
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::s
Real s() const
Definition: Quaternion.cpp:219
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::s
Real s() const
Definition: Quaternion.cpp:220
ostk::mathematics::object::Vector3d
Eigen::Vector3d Vector3d
Definition: Vector.hpp:38
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
Euler Angle (intrinsic rotation)
Definition: EulerAngle.hpp:46
ostk
Apache License 2.0.
Definition: BarycentricRational.hpp:14
ostk::mathematics::object::Vector4d
Eigen::Vector4d Vector4d
Definition: Vector.hpp:39
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::inverse
Quaternion & inverse()
Inverse quaternion.
Definition: Quaternion.cpp:430
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::XYZS
static Quaternion XYZS(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)
Constructs a quaternion using the vector-scalar format.
Definition: Quaternion.cpp:492
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::y
Real y() const
Get second component of vector part.
Definition: Quaternion.cpp:199
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::rectify
Quaternion & rectify()
Rectify quaternion (enforce positive scalar part)
Definition: Quaternion.cpp:452
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator!=
bool operator!=(const Quaternion &aQuaternion) const
Not equal to operator.
Definition: Quaternion.cpp:64
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::pow
Quaternion pow(const Real &aValue) const
Get power.
Definition: Quaternion.cpp:294
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator*
Vector3d operator*(const Vector3d &aVector) const
Addition operator (quaternion)
Definition: Quaternion.cpp:81
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator+=
Quaternion & operator+=(const Quaternion &aQuaternion)
Addition assignment operator (quaternion)
Definition: Quaternion.cpp:111
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector
Rotation vector.
Definition: RotationVector.hpp:38
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::z
Real z() const
Get third component of vector part.
Definition: Quaternion.cpp:209
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toString
String toString(const Quaternion::Format &aFormat) const
Convert quaternion to its string representation.
Definition: Quaternion.cpp:389
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Format
Format
Quaternion format.
Definition: Quaternion.hpp:52
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator<<
friend std::ostream & operator<<(std::ostream &anOutputStream, const Quaternion &aQuaternion)
Output stream operator.
Definition: Quaternion.cpp:145
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::LERP
static Quaternion LERP(const Quaternion &aFirstQuaternion, const Quaternion &aSecondQuaternion, const Real &aRatio)
Linear interpolator method.
Definition: Quaternion.cpp:613
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::NLERP
static Quaternion NLERP(const Quaternion &aFirstQuaternion, const Quaternion &aSecondQuaternion, const Real &aRatio)
Normalized linear interpolator method.
Definition: Quaternion.cpp:628
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toVector
Vector4d toVector(const Quaternion::Format &aFormat=Quaternion::Format::XYZS) const
Convert quaternion to its vector representation.
Definition: Quaternion.cpp:366
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::normalize
Quaternion & normalize()
Normalize quaternion.
Definition: Quaternion.cpp:399
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::conjugate
Quaternion & conjugate()
Conjugate quaternion.
Definition: Quaternion.cpp:416
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::RotationMatrix
static Quaternion RotationMatrix(const rotation::RotationMatrix &aRotationMatrix)
Constructs a rquaternion from a rotation matrix.
Definition: Quaternion.cpp:511
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Unit
static Quaternion Unit()
Constructs a unit quaternion.
Definition: Quaternion.cpp:487
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::dotProduct
Real dotProduct(const Quaternion &aQuaternion) const
Calculate quaternion dot product.
Definition: Quaternion.cpp:341
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::rotateVector
Vector3d rotateVector(const Vector3d &aVector) const
Rotate vector using quaternion.
Definition: Quaternion.cpp:351
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::SLERP
static Quaternion SLERP(const Quaternion &aFirstQuaternion, const Quaternion &aSecondQuaternion, const Real &aRatio)
Definition: Quaternion.cpp:635
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Parse
static Quaternion Parse(const String &aString, const Quaternion::Format &aFormat=Quaternion::Format::XYZS)
Constructs a quaternion from a string.
Definition: Quaternion.cpp:572
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::inverse
Quaternion & inverse()
Inverse Quaternion.
Definition: Quaternion.cpp:431
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::XYZS
static Quaternion XYZS(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)
Construct Quaternion using the vector-scalar format.
Definition: Quaternion.cpp:493
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::y
Real y() const
Get second component of vector part.
Definition: Quaternion.cpp:200
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::rectify
Quaternion & rectify()
Rectify Quaternion (enforce positive scalar part)
Definition: Quaternion.cpp:453
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator!=
bool operator!=(const Quaternion &aQuaternion) const
Not equal to operator.
Definition: Quaternion.cpp:65
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::pow
Quaternion pow(const Real &aValue) const
Calculate power of Quaternion.
Definition: Quaternion.cpp:295
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator+=
Quaternion & operator+=(const Quaternion &aQuaternion)
Addition assignment operator (Quaternion)
Definition: Quaternion.cpp:112
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector
Rotation Vector.
Definition: RotationVector.hpp:39
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::z
Real z() const
Get third component of vector part.
Definition: Quaternion.cpp:210
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toString
String toString(const Quaternion::Format &aFormat) const
Convert Quaternion to its string representation.
Definition: Quaternion.cpp:390
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Format
Format
Quaternion format.
Definition: Quaternion.hpp:53
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toInverse
Quaternion toInverse() const
Calculate inverse of Quaternion.
Definition: Quaternion.cpp:260
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator<<
friend std::ostream & operator<<(std::ostream &anOutputStream, const Quaternion &aQuaternion)
Output stream operator.
Definition: Quaternion.cpp:146
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::LERP
static Quaternion LERP(const Quaternion &aFirstQuaternion, const Quaternion &aSecondQuaternion, const Real &aRatio)
Linear interpolator method.
Definition: Quaternion.cpp:677
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::NLERP
static Quaternion NLERP(const Quaternion &aFirstQuaternion, const Quaternion &aSecondQuaternion, const Real &aRatio)
Normalized linear interpolator method.
Definition: Quaternion.cpp:692
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toVector
Vector4d toVector(const Quaternion::Format &aFormat=Quaternion::Format::XYZS) const
Convert Quaternion to its vector representation.
Definition: Quaternion.cpp:367
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator*
Quaternion operator*(const Quaternion &aQuaternion) const
Multiplication operator (Quaternion)
Definition: Quaternion.cpp:77
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::normalize
Quaternion & normalize()
Normalize Quaternion.
Definition: Quaternion.cpp:400
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::conjugate
Quaternion & conjugate()
Conjugate Quaternion.
Definition: Quaternion.cpp:417
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::RotationMatrix
static Quaternion RotationMatrix(const rotation::RotationMatrix &aRotationMatrix)
Construct Quaternion from Rotation Matrix.
Definition: Quaternion.cpp:512
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Unit
static Quaternion Unit()
Construct unitary Quaternion.
Definition: Quaternion.cpp:488
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::dotProduct
Real dotProduct(const Quaternion &aQuaternion) const
Calculate Quaternion dot product.
Definition: Quaternion.cpp:342
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::rotateVector
Vector3d rotateVector(const Vector3d &aVector) const
Rotate vector using Quaternion.
Definition: Quaternion.cpp:352
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::SLERP
static Quaternion SLERP(const Quaternion &aFirstQuaternion, const Quaternion &aSecondQuaternion, const Real &aRatio)
Definition: Quaternion.cpp:699
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::EulerAngle
static Quaternion EulerAngle(const rotation::EulerAngle &aEulerAngle)
Construct Quaternion from Euler Angle.
Definition: Quaternion.cpp:576
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Parse
static Quaternion Parse(const String &aString, const Quaternion::Format &aFormat=Quaternion::Format::XYZS)
Construct Quaternion from string.
Definition: Quaternion.cpp:636
Vector.hpp
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix
Rotation matrix.
Definition: RotationMatrix.hpp:39
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Unit
static RotationMatrix Unit()
Constructs a unit rotation matrix.
Definition: RotationMatrix.cpp:288
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix
Rotation matrix.
Definition: RotationMatrix.hpp:40
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Unit
static RotationMatrix Unit()
Construct unitary Rotation Matrix.
Definition: RotationMatrix.cpp:290
Angle.hpp
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Undefined
static RotationMatrix Undefined()
Constructs an undefined rotation matrix.
Definition: RotationMatrix.cpp:283
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Rows
static RotationMatrix Rows(const Vector3d &aFirstRow, const Vector3d &aSecondRow, const Vector3d &aThirdRow)
Constructs a rotation matrix from row vectors.
Definition: RotationMatrix.cpp:344
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion
Quaternion.
Definition: Quaternion.hpp:47
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::isDefined
bool isDefined() const
Check if rotation matrix is defined.
Definition: RotationMatrix.cpp:206
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::transpose
RotationMatrix & transpose()
Transpose rotation matrix.
Definition: RotationMatrix.cpp:271
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RY
static RotationMatrix RY(const Angle &aRotationAngle)
Constructs a rotation matrix representing a rotation around the Y-axis.
Definition: RotationMatrix.cpp:310
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RZ
static RotationMatrix RZ(const Angle &aRotationAngle)
Constructs a rotation matrix representing a rotation around the Z-axis.
Definition: RotationMatrix.cpp:327
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::operator!=
bool operator!=(const RotationMatrix &aRotationMatrix) const
Not equal to operator.
Definition: RotationMatrix.cpp:120
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::operator()
double operator()(const Index &aRowIndex, const Index &aColumnIndex) const
Index function operator.
Definition: RotationMatrix.cpp:150
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::operator*
RotationMatrix operator*(const RotationMatrix &aRotationMatrix) const
Matrix multiplication operator.
Definition: RotationMatrix.cpp:125
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Undefined
static RotationMatrix Undefined()
Construct an undefined Rotation Matrix.
Definition: RotationMatrix.cpp:285
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Rows
static RotationMatrix Rows(const Vector3d &aFirstRow, const Vector3d &aSecondRow, const Vector3d &aThirdRow)
Construct Rotation Matrix from row vectors.
Definition: RotationMatrix.cpp:346
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion
Quaternion.
Definition: Quaternion.hpp:48
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::isDefined
bool isDefined() const
Check if Rotation Matrix is defined.
Definition: RotationMatrix.cpp:207
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::transpose
RotationMatrix & transpose()
Transpose Rotation Matrix.
Definition: RotationMatrix.cpp:272
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RY
static RotationMatrix RY(const Angle &aRotationAngle)
Construct Rotation Matrix representing a rotation around the Y-axis.
Definition: RotationMatrix.cpp:312
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RZ
static RotationMatrix RZ(const Angle &aRotationAngle)
Construct Rotation Matrix representing a rotation around the Z-axis.
Definition: RotationMatrix.cpp:329
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::operator!=
bool operator!=(const RotationMatrix &aRotationMatrix) const
Not equal to operator.
Definition: RotationMatrix.cpp:121
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::operator()
double operator()(const Index &aRowIndex, const Index &aColumnIndex) const
Index function operator.
Definition: RotationMatrix.cpp:151
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::operator*
RotationMatrix operator*(const RotationMatrix &aRotationMatrix) const
Matrix multiplication operator.
Definition: RotationMatrix.cpp:126
ostk::mathematics::geometry::Angle
Angle.
Definition: Angle.hpp:33
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RotationVector
static RotationMatrix RotationVector(const rotation::RotationVector &aRotationVector)
Constructs a rotation matrix from a rotation vector.
Definition: RotationMatrix.cpp:497
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RotationVector
static RotationMatrix RotationVector(const rotation::RotationVector &aRotationVector)
Construct Rotation Matrix from Rotation Vector.
Definition: RotationMatrix.cpp:499
ostk::mathematics::object::Vector3d
Eigen::Vector3d Vector3d
Definition: Vector.hpp:38
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
Euler Angle (intrinsic rotation)
Definition: EulerAngle.hpp:46
ostk
Apache License 2.0.
Definition: BarycentricRational.hpp:14
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::getRowAt
Vector3d getRowAt(const Index &aRowIndex) const
Get row at index.
Definition: RotationMatrix.cpp:221
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::getColumnAt
Vector3d getColumnAt(const Index &aColumnIndex) const
Get column at index.
Definition: RotationMatrix.cpp:236
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::getMatrix
Matrix3d getMatrix() const
Get underlying rotation matrix.
Definition: RotationMatrix.cpp:251
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RX
static RotationMatrix RX(const Angle &aRotationAngle)
Constructs a rotation matrix representing a rotation around the X-axis.
Definition: RotationMatrix.cpp:293
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector
Rotation vector.
Definition: RotationVector.hpp:38
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::toTransposed
RotationMatrix toTransposed() const
Get transposed rotation matrix.
Definition: RotationMatrix.cpp:261
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::operator==
bool operator==(const RotationMatrix &aRotationMatrix) const
Equal to operator.
Definition: RotationMatrix.cpp:110
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::operator<<
friend std::ostream & operator<<(std::ostream &anOutputStream, const RotationMatrix &aRotationMatrix)
Output stream operator.
Definition: RotationMatrix.cpp:190
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Columns
static RotationMatrix Columns(const Vector3d &aFirstColumn, const Vector3d &aSecondColumn, const Vector3d &aThirdColumn)
Constructs a rotation matrix from column vectors.
Definition: RotationMatrix.cpp:399
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::getRowAt
Vector3d getRowAt(const Index &aRowIndex) const
Get row at index.
Definition: RotationMatrix.cpp:222
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::getColumnAt
Vector3d getColumnAt(const Index &aColumnIndex) const
Get column at index.
Definition: RotationMatrix.cpp:237
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::getMatrix
Matrix3d getMatrix() const
Get underlying 3D Matrix.
Definition: RotationMatrix.cpp:252
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RX
static RotationMatrix RX(const Angle &aRotationAngle)
Construct Rotation Matrix representing a rotation around the X-axis.
Definition: RotationMatrix.cpp:295
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector
Rotation Vector.
Definition: RotationVector.hpp:39
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::toTransposed
RotationMatrix toTransposed() const
Calculate transposed Rotation Matrix.
Definition: RotationMatrix.cpp:262
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::operator==
bool operator==(const RotationMatrix &aRotationMatrix) const
Equal to operator.
Definition: RotationMatrix.cpp:111
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::operator<<
friend std::ostream & operator<<(std::ostream &anOutputStream, const RotationMatrix &aRotationMatrix)
Output stream operator.
Definition: RotationMatrix.cpp:191
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Columns
static RotationMatrix Columns(const Vector3d &aFirstColumn, const Vector3d &aSecondColumn, const Vector3d &aThirdColumn)
Construct Rotation Matrix from column vectors.
Definition: RotationMatrix.cpp:401
ostk::mathematics::object::Matrix3d
Eigen::Matrix3d Matrix3d
Definition: Vector.hpp:53
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::accessMatrix
const Matrix3d & accessMatrix() const
Access underlying rotation matrix.
Definition: RotationMatrix.cpp:211
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Quaternion
static RotationMatrix Quaternion(const rotation::Quaternion &aQuaternion)
Constructs a rotation matrix from a quaternion.
Definition: RotationMatrix.cpp:456
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::EulerAngle
static RotationMatrix EulerAngle(const rotation::EulerAngle &aEulerAngle)
Construct Rotation Matrix from Euler Angle.
Definition: RotationMatrix.cpp:533
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::accessMatrix
const Matrix3d & accessMatrix() const
Access underlying 3D Matrix.
Definition: RotationMatrix.cpp:212
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Quaternion
static RotationMatrix Quaternion(const rotation::Quaternion &aQuaternion)
Construct Rotation Matrix from Quaternion.
Definition: RotationMatrix.cpp:458
- +

Namespaces

 ostk

Classes

class  ostk::mathematics::geometry::d3::transformation::rotation::RotationVector
 Rotation vector. More...
 Rotation Vector. More...
 
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diff --git a/html/_rotation_vector_8hpp_source.html b/html/_rotation_vector_8hpp_source.html index 57b0196f..b409b792 100644 --- a/html/_rotation_vector_8hpp_source.html +++ b/html/_rotation_vector_8hpp_source.html @@ -115,95 +115,109 @@
30 
31 class Quaternion;
32 class RotationMatrix;
-
33 
-
37 
-
38 class RotationVector
-
39 {
-
40  public:
-
45 
-
46  RotationVector(const Vector3d& anAxis, const Angle& anAngle);
-
47 
-
57 
-
58  bool operator==(const RotationVector& aRotationVector) const;
-
59 
-
69 
-
70  bool operator!=(const RotationVector& aRotationVector) const;
-
71 
-
81 
-
82  friend std::ostream& operator<<(std::ostream& anOutputStream, const RotationVector& aRotationVector);
-
83 
-
91 
-
92  bool isDefined() const;
-
93 
-
97 
-
98  Vector3d getAxis() const;
-
99 
-
103 
-
104  Angle getAngle() const;
-
105 
-
115 
-
116  String toString(const Integer& aPrecision = Integer::Undefined()) const;
-
117 
-
125 
-
126  static RotationVector Undefined();
-
127 
-
135 
-
136  static RotationVector Unit();
+
33 class EulerAngle;
+
34 
+
38 
+
39 class RotationVector
+
40 {
+
41  public:
+
50 
+
51  RotationVector(const Vector3d& anAxis, const Angle& anAngle);
+
52 
+
62 
+
63  RotationVector(const Vector3d& anAxis, const Angle::Unit& anAngleUnit);
+
64 
+
73 
+
74  bool operator==(const RotationVector& aRotationVector) const;
+
75 
+
84 
+
85  bool operator!=(const RotationVector& aRotationVector) const;
+
86 
+
96 
+
97  friend std::ostream& operator<<(std::ostream& anOutputStream, const RotationVector& aRotationVector);
+
98 
+
106 
+
107  bool isDefined() const;
+
108 
+
116 
+
117  Vector3d getAxis() const;
+
118 
+
126 
+
127  Angle getAngle() const;
+
128 
137 
-
146 
-
147  static RotationVector X(const Angle& anAngle);
-
148 
+
138  String toString(const Integer& aPrecision = Integer::Undefined()) const;
+
139 
+
147 
+
148  RotationVector& rectify();
+
149 
157 
-
158  static RotationVector Y(const Angle& anAngle);
+
158  static RotationVector Undefined();
159 
-
168 
-
169  static RotationVector Z(const Angle& anAngle);
-
170 
+
167 
+
168  static RotationVector Unit();
+
169 
+
178 
+
179  static RotationVector X(const Angle& anAngle);
180 
-
181  static RotationVector Quaternion(const rotation::Quaternion& aQuaternion);
-
182 
+
189 
+
190  static RotationVector Y(const Angle& anAngle);
191 
-
192  static RotationVector RotationMatrix(const rotation::RotationMatrix& aRotationMatrix);
-
193 
-
194  private:
-
195  Vector3d axis_;
-
196  Angle angle_;
-
197 
-
198  RotationVector();
-
199 };
200 
-
201 } // namespace rotation
-
202 } // namespace transformation
-
203 } // namespace d3
-
204 } // namespace geometry
-
205 } // namespace mathematics
-
206 } // namespace ostk
-
207 
-
208 #endif
+
201  static RotationVector Z(const Angle& anAngle);
+
202 
+
211 
+
212  static RotationVector Quaternion(const rotation::Quaternion& aQuaternion);
+
213 
+
222 
+
223  static RotationVector RotationMatrix(const rotation::RotationMatrix& aRotationMatrix);
+
224 
+
233 
+
234  static RotationVector EulerAngle(const rotation::EulerAngle& aEulerAngle);
+
235 
+
236  private:
+
237  Vector3d axis_;
+
238  Angle angle_;
+
239 
+
240  RotationVector();
+
241 };
+
242 
+
243 } // namespace rotation
+
244 } // namespace transformation
+
245 } // namespace d3
+
246 } // namespace geometry
+
247 } // namespace mathematics
+
248 } // namespace ostk
+
249 
+
250 #endif
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix
Rotation matrix.
Definition: RotationMatrix.hpp:39
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::getAxis
Vector3d getAxis() const
Get rotation axis.
Definition: RotationVector.cpp:73
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Unit
static RotationVector Unit()
Constructs a unit rotation vector.
Definition: RotationVector.cpp:110
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Undefined
static RotationVector Undefined()
Constructs an undefined rotation vector.
Definition: RotationVector.cpp:105
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Quaternion
static RotationVector Quaternion(const rotation::Quaternion &aQuaternion)
Constructs a rotation vector from a quaternion.
Definition: RotationVector.cpp:145
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix
Rotation matrix.
Definition: RotationMatrix.hpp:40
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::getAxis
Vector3d getAxis() const
Get rotation axis.
Definition: RotationVector.cpp:84
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::EulerAngle
static RotationVector EulerAngle(const rotation::EulerAngle &aEulerAngle)
Construct Rotation Vector from Euler Angle.
Definition: RotationVector.cpp:225
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Unit
static RotationVector Unit()
Construct a unitary Rotation Vector.
Definition: RotationVector.cpp:143
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Undefined
static RotationVector Undefined()
Construct an undefined Rotation Vector.
Definition: RotationVector.cpp:138
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Quaternion
static RotationVector Quaternion(const rotation::Quaternion &aQuaternion)
Construct Rotation Vector from Quaternion.
Definition: RotationVector.cpp:178
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::isDefined
bool isDefined() const
Check if rotation vector is defined.
Definition: RotationVector.cpp:68
- -
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Y
static RotationVector Y(const Angle &anAngle)
Constructs a rotation vector around Y-axis.
Definition: RotationVector.cpp:125
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::X
static RotationVector X(const Angle &anAngle)
Constructs a rotation vector around X-axis.
Definition: RotationVector.cpp:115
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Z
static RotationVector Z(const Angle &anAngle)
Constructs a rotation vector around Z-axis.
Definition: RotationVector.cpp:135
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::operator!=
bool operator!=(const RotationVector &aRotationVector) const
Not equal to operator.
Definition: RotationVector.cpp:49
+
ostk::mathematics::geometry::Angle::Unit
Unit
Definition: Angle.hpp:36
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::isDefined
bool isDefined() const
Check if Rotation Vector is defined.
Definition: RotationVector.cpp:79
+ +
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Y
static RotationVector Y(const Angle &anAngle)
Construct Rotation Vector around Y-axis.
Definition: RotationVector.cpp:158
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::X
static RotationVector X(const Angle &anAngle)
Construct Rotation Vector around X-axis.
Definition: RotationVector.cpp:148
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Z
static RotationVector Z(const Angle &anAngle)
Construct Rotation Vector around Z-axis.
Definition: RotationVector.cpp:168
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::operator!=
bool operator!=(const RotationVector &aRotationVector) const
Not equal to operator.
Definition: RotationVector.cpp:60
ostk::mathematics::geometry::Angle
Angle.
Definition: Angle.hpp:33
ostk::mathematics::object::Vector3d
Eigen::Vector3d Vector3d
Definition: Vector.hpp:38
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
Euler Angle (intrinsic rotation)
Definition: EulerAngle.hpp:46
ostk
Apache License 2.0.
Definition: BarycentricRational.hpp:14
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::operator==
bool operator==(const RotationVector &aRotationVector) const
Equal to operator.
Definition: RotationVector.cpp:33
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector
Rotation vector.
Definition: RotationVector.hpp:38
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::RotationMatrix
static RotationVector RotationMatrix(const rotation::RotationMatrix &aRotationMatrix)
Constructs a rotation vector from a rotation matrix.
Definition: RotationVector.cpp:168
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::toString
String toString(const Integer &aPrecision=Integer::Undefined()) const
Convert rotation vector to its string representation.
Definition: RotationVector.cpp:93
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::getAngle
Angle getAngle() const
Get rotation angle.
Definition: RotationVector.cpp:83
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::operator<<
friend std::ostream & operator<<(std::ostream &anOutputStream, const RotationVector &aRotationVector)
Output stream operator.
Definition: RotationVector.cpp:54
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::operator==
bool operator==(const RotationVector &aRotationVector) const
Equal to operator.
Definition: RotationVector.cpp:44
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector
Rotation Vector.
Definition: RotationVector.hpp:39
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::RotationMatrix
static RotationVector RotationMatrix(const rotation::RotationMatrix &aRotationMatrix)
Construct Rotation Vector from Rotation Matrix.
Definition: RotationVector.cpp:201
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::rectify
RotationVector & rectify()
Rectify Rotation Vector (enforce positive angle)
Definition: RotationVector.cpp:104
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::toString
String toString(const Integer &aPrecision=Integer::Undefined()) const
Convert Rotation Vector to string representation.
Definition: RotationVector.cpp:126
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::getAngle
Angle getAngle() const
Get rotation angle.
Definition: RotationVector.cpp:94
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::operator<<
friend std::ostream & operator<<(std::ostream &anOutputStream, const RotationVector &aRotationVector)
Output stream operator.
Definition: RotationVector.cpp:65

 CSphereSphere
 ▼Ntransformation
 ▼Nrotation
 CQuaternionQuaternion
 CRotationMatrixRotation matrix
 CRotationVectorRotation vector
 CIntersection3D intersection
 CObject3D object
 CTransformation
 CAngleAngle
 ▼Nobject
 CIntervalSet of numbers with the property that any number that lies between two numbers in the set is also included in the set
 CIntervalBaseInterval base (used to avoid having a templated enum)
 ▼Nsolver
 CNumericalSolverDefines a numerical ODE solver that use the Boost Odeint libraries. This class will be moved into OSTk-math in the future
 CEulerAngleEuler Angle (intrinsic rotation)
 CQuaternionQuaternion
 CRotationMatrixRotation matrix
 CRotationVectorRotation Vector
 CIntersection3D intersection
 CObject3D object
 CTransformation
 CAngleAngle
 ▼Nobject
 CIntervalSet of numbers with the property that any number that lies between two numbers in the set is also included in the set
 CIntervalBaseInterval base (used to avoid having a templated enum)
 ▼Nsolver
 CNumericalSolverDefines a numerical ODE solver that use the Boost Odeint libraries. This class will be moved into OSTk-math in the future
diff --git a/html/classes.html b/html/classes.html index 9e27018f..4208b157 100644 --- a/html/classes.html +++ b/html/classes.html @@ -88,93 +88,93 @@ - + + + + + - + + + + + - - - - + - - + - - + - + - - - - - - - + + - + + + + + - + + - + + - - + - + - + + - + - - - + + + + - - + - - - - + - - - - - - + - + + + - - - + +
  a  
  h  
+		EulerAngle (ostk::mathematics::geometry::d3::transformation::rotation)   Line (ostk::mathematics::geometry::d3::object)   
  p  
+		RotationMatrix (ostk::mathematics::geometry::d3::transformation::rotation)   
  h  
 Linear (ostk::mathematics::curvefitting::interpolator)   Point (ostk::mathematics::geometry::d2::object)   RotationVector (ostk::mathematics::geometry::d3::transformation::rotation)   
Angle (ostk::mathematics::geometry)   LineString (ostk::mathematics::geometry::d3::object)   Plane (ostk::mathematics::geometry::d3::object)   
  s  
LineString (ostk::mathematics::geometry::d3::object)   Point (ostk::mathematics::geometry::d3::object)   
Angle (ostk::mathematics::geometry)   
  b  
+		 PointSet::Hasher (ostk::mathematics::geometry::d2::object)    LineString (ostk::mathematics::geometry::d2::object)   PointSet (ostk::mathematics::geometry::d3::object)   Segment (ostk::mathematics::geometry::d2::object)   Point (ostk::mathematics::geometry::d2::object)   
  b  
-		PointSet::Hasher (ostk::mathematics::geometry::d3::object)   
PointSet::Hasher (ostk::mathematics::geometry::d3::object)   
  m  
PointSet (ostk::mathematics::geometry::d2::object)   Point (ostk::mathematics::geometry::d3::object)    Segment (ostk::mathematics::geometry::d3::object)   
  i  
-		Polygon (ostk::mathematics::geometry::d2::object)   Sphere (ostk::mathematics::geometry::d3::object)   
BarycentricRational (ostk::mathematics::curvefitting::interpolator)   MultiLineString (ostk::mathematics::geometry::d2::object)   Polygon (ostk::mathematics::geometry::d3::object)   
  t  
+
  i  
PointSet (ostk::mathematics::geometry::d2::object)   Segment (ostk::mathematics::geometry::d2::object)   
  c  
Interpolator (ostk::mathematics::curvefitting)   MultiLineString (ostk::mathematics::geometry::d2::object)   PointSet (ostk::mathematics::geometry::d3::object)   Sphere (ostk::mathematics::geometry::d3::object)   
Interpolator (ostk::mathematics::curvefitting)    MultiPolygon (ostk::mathematics::geometry::d2::object)   Pyramid (ostk::mathematics::geometry::d3::object)   Polygon (ostk::mathematics::geometry::d2::object)   
  t  
+
Intersection (ostk::mathematics::geometry::d2)   
Composite (ostk::mathematics::geometry::d2::object)   Intersection (ostk::mathematics::geometry::d2)   
  n  
  q  
-		Transformation (ostk::mathematics::geometry::d3)   Polygon (ostk::mathematics::geometry::d3::object)   
Composite (ostk::mathematics::geometry::d2::object)   
Composite (ostk::mathematics::geometry::d3::object)    Intersection (ostk::mathematics::geometry::d3)   Transformation (ostk::mathematics::geometry::d2)   Pyramid (ostk::mathematics::geometry::d3::object)   Transformation (ostk::mathematics::geometry::d3)   
Composite (ostk::mathematics::geometry::d3::object)   
Cone (ostk::mathematics::geometry::d3::object)    Interval (ostk::mathematics::object)    NumericalSolver (ostk::mathematics::solver)   Quaternion (ostk::mathematics::geometry::d3::transformation::rotation)   
Cone (ostk::mathematics::geometry::d3::object)   
  q  
+		Transformation (ostk::mathematics::geometry::d2)   
CubicSpline (ostk::mathematics::curvefitting::interpolator)    IntervalBase (ostk::mathematics::object)   
  o  
  r  
-
CubicSpline (ostk::mathematics::curvefitting::interpolator)   
Cuboid (ostk::mathematics::geometry::d3::object)   
  l  
Cuboid (ostk::mathematics::geometry::d3::object)   Object (ostk::mathematics::geometry::d2)   Ray (ostk::mathematics::geometry::d3::object)   Quaternion (ostk::mathematics::geometry::d3::transformation::rotation)   
  e  
Line (ostk::mathematics::geometry::d2::object)   Object (ostk::mathematics::geometry::d3)   RotationMatrix (ostk::mathematics::geometry::d3::transformation::rotation)   
Line (ostk::mathematics::geometry::d3::object)   
  p  
+		Object (ostk::mathematics::geometry::d2)   
  r  
RotationVector (ostk::mathematics::geometry::d3::transformation::rotation)   
Line (ostk::mathematics::geometry::d2::object)   Object (ostk::mathematics::geometry::d3)   
Ellipsoid (ostk::mathematics::geometry::d3::object)   
Plane (ostk::mathematics::geometry::d3::object)   
Ray (ostk::mathematics::geometry::d3::object)   
a | b | c | e | h | i | l | m | n | o | p | q | r | s | t
diff --git a/html/classostk_1_1mathematics_1_1geometry_1_1_angle-members.html b/html/classostk_1_1mathematics_1_1geometry_1_1_angle-members.html index 8af53c19..1273b2b9 100644 --- a/html/classostk_1_1mathematics_1_1geometry_1_1_angle-members.html +++ b/html/classostk_1_1mathematics_1_1geometry_1_1_angle-members.html @@ -106,6 +106,8 @@ inRadians(const Real &aLowerBound, const Real &anUpperBound) constostk::mathematics::geometry::Angle inRevolutions() constostk::mathematics::geometry::Angle isDefined() constostk::mathematics::geometry::Angle + isNear(const Angle &anAngle, const Angle &aTolerance) constostk::mathematics::geometry::Angle + isNegative() constostk::mathematics::geometry::Angle isZero() constostk::mathematics::geometry::Angle operator!=(const Angle &anAngle) constostk::mathematics::geometry::Angle operator*(const Real &aReal) constostk::mathematics::geometry::Angle diff --git a/html/classostk_1_1mathematics_1_1geometry_1_1_angle.html b/html/classostk_1_1mathematics_1_1geometry_1_1_angle.html index f11dc007..33914e3e 100644 --- a/html/classostk_1_1mathematics_1_1geometry_1_1_angle.html +++ b/html/classostk_1_1mathematics_1_1geometry_1_1_angle.html @@ -143,6 +143,12 @@   bool isZero () const   +bool isNegative () const + Check if angle is negative. More...
+  +bool isNear (const Angle &anAngle, const Angle &aTolerance) const + Check if angles are near within an angular tolerance. More...
+  Angle::Unit getUnit () const   Real in (const Angle::Unit &aUnit) const @@ -712,6 +718,69 @@

+ + + +

◆ isNear()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool ostk::mathematics::geometry::Angle::isNear (const Angle & anAngle,
const Angle & aTolerance 
) const
+
+ +

Check if angles are near within an angular tolerance.

+
Angle::Zero().isNear(
+
Angle::Degrees(1.0),
+
Angle::Degrees(2.0)
+
);
+
Parameters
+ + + +
[in]anAngleAn angle
[in]aToleranceA tolerance
+
+
+
Returns
True if angles are near
+ +
+
+ +

◆ isNegative()

+ +
+
+ + + + + + + +
bool ostk::mathematics::geometry::Angle::isNegative () const
+
+ +

Check if angle is negative.

+
Angle::Zero().isNegative();
+
Returns
True if angle is negative
+
@@ -1272,8 +1341,12 @@

ostk::mathematics::geometry::Angle::Degrees
static Angle Degrees(const Real &aValue)
Definition: Angle.cpp:464
ostk::mathematics::geometry::Angle::Angle
Angle(const Real &aValue, const Angle::Unit &aUnit)
Constructor.
Definition: Angle.cpp:15
+
ostk::mathematics::geometry::Angle::Zero
static Angle Zero()
Definition: Angle.cpp:439
+
ostk::mathematics::geometry::Angle::isNear
bool isNear(const Angle &anAngle, const Angle &aTolerance) const
Check if angles are near within an angular tolerance.
Definition: Angle.cpp:273
+
ostk::mathematics::geometry::Angle::isNegative
bool isNegative() const
Check if angle is negative.
Definition: Angle.cpp:263
+
ostk::mathematics::geometry::Angle::Degrees
static Angle Degrees(const Real &aValue)
Definition: Angle.cpp:464
ostk::mathematics::object::Vector3d
Eigen::Vector3d Vector3d
Definition: Vector.hpp:38
ostk::mathematics::geometry::d3::object::Cone::Cone
Cone(const Point &anApex, const Vector3d &anAxis, const Angle &anAngle)
Constructor.
Definition: Cone.cpp:29
diff --git a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_cuboid.html b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_cuboid.html index 8e89c427..370451d2 100644 --- a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_cuboid.html +++ b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_cuboid.html @@ -1321,8 +1321,8 @@

ostk::mathematics::geometry::d3::object::Cuboid::Cuboid
Cuboid(const Point &aCenter, const std::array< Vector3d, 3 > &aAxisArray, const std::array< Real, 3 > &anExtent)
Constructor.
Definition: Cuboid.cpp:54
-
ostk::mathematics::geometry::d3::object::Cuboid::Cube
static Cuboid Cube(const Point &aCenter, const Real &anExtent)
Constructs a a cube.
Definition: Cuboid.cpp:500
-
ostk::mathematics::geometry::d3::object::Cuboid::Undefined
static Cuboid Undefined()
Constructs an undefined cuboid.
Definition: Cuboid.cpp:491
+
ostk::mathematics::geometry::d3::object::Cuboid::Cube
static Cuboid Cube(const Point &aCenter, const Real &anExtent)
Constructs a a cube.
Definition: Cuboid.cpp:505
+
ostk::mathematics::geometry::d3::object::Cuboid::Undefined
static Cuboid Undefined()
Constructs an undefined cuboid.
Definition: Cuboid.cpp:496
ostk::mathematics::geometry::d3::object::Point::Origin
static Point Origin()
Constructs a point at origin.
Definition: Point.cpp:204
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::XYZS
static Quaternion XYZS(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)
Constructs a quaternion using the vector-scalar format.
Definition: Quaternion.cpp:492
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::XYZS
static Quaternion XYZS(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)
Construct Quaternion using the vector-scalar format.
Definition: Quaternion.cpp:493
ostk::mathematics::geometry::d3::object::Ellipsoid::Undefined
static Ellipsoid Undefined()
Constructs an undefined ellipsoid.
Definition: Ellipsoid.cpp:968
diff --git a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle-members.html b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle-members.html new file mode 100644 index 00000000..7ad9525f --- /dev/null +++ b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle-members.html @@ -0,0 +1,123 @@ + + + + + + + +OpenSpaceToolkitMathematics: Documentation + + + + + + + + + + + + + + + +
+
+
+ + + + + + +
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+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle Member List
+
+
+ +

This is the complete list of members for ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + +
AxisSequence enum nameostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
EulerAngle(const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle, const EulerAngle::AxisSequence &anAxisSequence)ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
EulerAngle(const Vector3d &aVector, const Angle::Unit &anAngleUnit, const EulerAngle::AxisSequence &anAxisSequence)ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
getAxisSequence() constostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
getPhi() constostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
getPsi() constostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
getTheta() constostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
isDefined() constostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
isNear(const EulerAngle &aEulerAngle, const Angle &anAngularTolerance) constostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
isUnitary() constostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
operator!=(const EulerAngle &aEulerAngle) constostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
operator<<(std::ostream &anOutputStream, const EulerAngle &aEulerAngle)ostk::mathematics::geometry::d3::transformation::rotation::EulerAnglefriend
operator==(const EulerAngle &aEulerAngle) constostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
Quaternion(const rotation::Quaternion &aQuaternion, const EulerAngle::AxisSequence &anAxisSequence)ostk::mathematics::geometry::d3::transformation::rotation::EulerAnglestatic
RotationMatrix(const rotation::RotationMatrix &aRotationMatrix, const EulerAngle::AxisSequence &anAxisSequence)ostk::mathematics::geometry::d3::transformation::rotation::EulerAnglestatic
RotationVector(const rotation::RotationVector &aRotationVector, const EulerAngle::AxisSequence &anAxisSequence)ostk::mathematics::geometry::d3::transformation::rotation::EulerAnglestatic
StringFromAxisSequence(const EulerAngle::AxisSequence &anAxisSequence)ostk::mathematics::geometry::d3::transformation::rotation::EulerAnglestatic
toString(const Angle::Unit &anAngleUnit=Angle::Unit::Degree) constostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
toVector(const Angle::Unit &anAngleUnit) constostk::mathematics::geometry::d3::transformation::rotation::EulerAngle
Undefined()ostk::mathematics::geometry::d3::transformation::rotation::EulerAnglestatic
Unit()ostk::mathematics::geometry::d3::transformation::rotation::EulerAnglestatic
XYZ(const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle)ostk::mathematics::geometry::d3::transformation::rotation::EulerAnglestatic
ZXY(const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle)ostk::mathematics::geometry::d3::transformation::rotation::EulerAnglestatic
ZYX(const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle)ostk::mathematics::geometry::d3::transformation::rotation::EulerAnglestatic
+
+ + + + + diff --git a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html new file mode 100644 index 00000000..b31876e8 --- /dev/null +++ b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html @@ -0,0 +1,1117 @@ + + + + + + + +OpenSpaceToolkitMathematics: Documentation + + + + + + + + + + + + + + + +
+
+
+ + + + + + +
+ + + +
+
+ +
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+ +
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+
+Public Types | +Public Member Functions | +Static Public Member Functions | +Friends | +List of all members
+
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle Class Reference
+
+
+ +

Euler Angle (intrinsic rotation) + More...

+ +

#include <EulerAngle.hpp>

+ + + + +

+Public Types

enum  AxisSequence { AxisSequence::Undefined, +AxisSequence::XYZ, +AxisSequence::ZXY, +AxisSequence::ZYX + }
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 EulerAngle (const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle, const EulerAngle::AxisSequence &anAxisSequence)
 Construct Euler Angle from angles and axis sequence. More...
 
 EulerAngle (const Vector3d &aVector, const Angle::Unit &anAngleUnit, const EulerAngle::AxisSequence &anAxisSequence)
 Construct Euler Angle from vector of angles and axis sequence. More...
 
bool operator== (const EulerAngle &aEulerAngle) const
 Equal to operator. More...
 
bool operator!= (const EulerAngle &aEulerAngle) const
 Not equal to operator. More...
 
bool isDefined () const
 Check if Euler Angle is defined. More...
 
bool isUnitary () const
 Check if Euler Angle is unitary. More...
 
bool isNear (const EulerAngle &aEulerAngle, const Angle &anAngularTolerance) const
 Check if Euler Angle is equal to another Euler Angle within a given angular tolerance. More...
 
Angle getPhi () const
 Get first angle of rotation (phi) More...
 
Angle getTheta () const
 Get second angle of rotation (theta) More...
 
Angle getPsi () const
 Get third angle of rotation (psi) More...
 
AxisSequence getAxisSequence () const
 Get axis sequence. More...
 
Vector3d toVector (const Angle::Unit &anAngleUnit) const
 Return vector containing the three angles. More...
 
String toString (const Angle::Unit &anAngleUnit=Angle::Unit::Degree) const
 Return string form of Euler Angle [phi; theta; psi]. More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Static Public Member Functions

static EulerAngle Undefined ()
 Construct undefined Euler Angle. More...
 
static EulerAngle Unit ()
 Construct unitary Euler Angle. More...
 
static EulerAngle XYZ (const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle)
 Construct Euler Angle from angles following XYZ sequence. More...
 
static EulerAngle ZXY (const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle)
 Construct Euler Angle from angles following ZXY sequence. More...
 
static EulerAngle ZYX (const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle)
 Construct Euler Angle from angles following ZYX sequence. More...
 
static EulerAngle Quaternion (const rotation::Quaternion &aQuaternion, const EulerAngle::AxisSequence &anAxisSequence)
 Construct Euler Angle from Rotation Matrix. More...
 
static EulerAngle RotationVector (const rotation::RotationVector &aRotationVector, const EulerAngle::AxisSequence &anAxisSequence)
 Construct Euler Angle from Quaternion. More...
 
static EulerAngle RotationMatrix (const rotation::RotationMatrix &aRotationMatrix, const EulerAngle::AxisSequence &anAxisSequence)
 Construct Euler Angle from Rotation Vector. More...
 
static String StringFromAxisSequence (const EulerAngle::AxisSequence &anAxisSequence)
 Construct a string representation of an axis sequence. More...
 
+ + + + +

+Friends

std::ostream & operator<< (std::ostream &anOutputStream, const EulerAngle &aEulerAngle)
 Output stream operator. More...
 
+

Detailed Description

+

Euler Angle (intrinsic rotation)

+
                        Implementation from "Fundamentals of Spacecraft Attitude Determination and Control",
+                        F. Landis Markley and John L. Crassidis, Springer
+

https://en.wikipedia.org/wiki/Euler_angles https://en.wikipedia.org/wiki/Euler_angles#Conventions_by_intrinsic_rotations

+

Member Enumeration Documentation

+ +

◆ AxisSequence

+ +
+
+ + + + + +
+ + + + +
enum ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::AxisSequence
+ 		+strong
+
+ + + + + +
Enumerator
Undefined 

Undefined sequence.

+
XYZ 

X -> Y -> Z sequence.

+
ZXY 

Z -> X -> Y sequence.

+
ZYX 

Z -> Y -> X sequence.

+
+ +
+
+

Constructor & Destructor Documentation

+ +

◆ EulerAngle() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::EulerAngle (const Angle & aFirstAngle,
const Angle & aSecondAngle,
const Angle & aThirdAngle,
const EulerAngle::AxisSequence & anAxisSequence 
)
+
+ +

Construct Euler Angle from angles and axis sequence.

+
EulerAngle(
+
Angle::Degrees(1.0),
+
Angle::Degrees(2.0),
+
Angle::Degrees(3.0),
+
EulerAngle::AxisSequence::ZYX
+
);
+
Parameters
+ + + + + +
[in]aFirstAngleA first angle (phi)
[in]aSecondAngleA second angle (theta)
[in]aThirdAngleA third angle (psi)
[in]anAxisSequenceAn axis sequence
+
+
+ +
+
+ +

◆ EulerAngle() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::EulerAngle (const Vector3d & aVector,
const Angle::Unit & anAngleUnit,
const EulerAngle::AxisSequence & anAxisSequence 
)
+
+ +

Construct Euler Angle from vector of angles and axis sequence.

+
EulerAngle(
+
{1.0, 0.0, 0.0},
+
Angle::Unit::Degree,
+
EulerAngle::AxisSequence::ZYX
+
);
+
Parameters
+ + + + +
[in]aVectorA vector of angles
[in]anAngleUnitAn angle unit
[in]anAxisSequenceAn axis sequence
+
+
+ +
+
+

Member Function Documentation

+ +

◆ getAxisSequence()

+ +
+
+ + + + + + + +
EulerAngle::AxisSequence ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::getAxisSequence () const
+
+ +

Get axis sequence.

+
EulerAngle::Unit().getAxisSequence();
+
Returns
Axis sequence (e.g, ZYX)
+ +
+
+ +

◆ getPhi()

+ +
+
+ + + + + + + +
Angle ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::getPhi () const
+
+ +

Get first angle of rotation (phi)

+
EulerAngle::Unit().getPhi();
+
Returns
First angle of rotation
+ +
+
+ +

◆ getPsi()

+ +
+
+ + + + + + + +
Angle ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::getPsi () const
+
+ +

Get third angle of rotation (psi)

+
EulerAngle::Unit().getPsi();
+
Returns
Third angle of rotation
+ +
+
+ +

◆ getTheta()

+ +
+
+ + + + + + + +
Angle ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::getTheta () const
+
+ +

Get second angle of rotation (theta)

+
EulerAngle::Unit().getTheta();
+
Returns
Second angle of rotation
+ +
+
+ +

◆ isDefined()

+ +
+
+ + + + + + + +
bool ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::isDefined () const
+
+ +

Check if Euler Angle is defined.

+
EulerAngle::Unit().isDefined();
+
Returns
True if Euler Angle is defined
+ +
+
+ +

◆ isNear()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::isNear (const EulerAngle & aEulerAngle,
const Angle & anAngularTolerance 
) const
+
+ +

Check if Euler Angle is equal to another Euler Angle within a given angular tolerance.

+
EulerAngle::Unit().isNear(
+
EulerAngle::Unit(),
+
Angle::Degrees(1e-6)
+
);
+
Parameters
+ + + +
[in]aEulerAngleA Euler Angle
[in]anAngularToleranceAn angular tolerance
+
+
+
Returns
True if equal within given angular tolerance
+ +
+
+ +

◆ isUnitary()

+ +
+
+ + + + + + + +
bool ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::isUnitary () const
+
+ +

Check if Euler Angle is unitary.

+
EulerAngle::Unit().isUnitary();
+
Returns
True if Euler Angle is unitary
+ +
+
+ +

◆ operator!=()

+ +
+
+ + + + + + + + +
bool ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::operator!= (const EulerAngle & aEulerAngle) const
+
+ +

Not equal to operator.

+
EulerAngle::Unit() != EulerAngle::Unit();
+
Parameters
+ + +
[in]aEulerAngleA Euler Angle
+
+
+
Returns
True if Euler Angles are not equal
+ +
+
+ +

◆ operator==()

+ +
+
+ + + + + + + + +
bool ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::operator== (const EulerAngle & aEulerAngle) const
+
+ +

Equal to operator.

+
EulerAngle::Unit() == EulerAngle::Unit();
+
Parameters
+ + +
[in]aEulerAngleA Euler Angle
+
+
+
Returns
True if Euler Angles are equal
+ +
+
+ +

◆ Quaternion()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
EulerAngle ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Quaternion (const rotation::Quaternion & aQuaternion,
const EulerAngle::AxisSequence & anAxisSequence 
)
+ 		+static
+
+ +

Construct Euler Angle from Rotation Matrix.

+
EulerAngle::RotationMatrix(
+
RotationMatrix::Unit(),
+
EulerAngle::AxisSequence::ZYX
+
);
+
Parameters
+ + + +
[in]aRotationMatrixA Rotation Matrix
[in]anAxisSequenceAn axis sequence
+
+
+
Returns
Euler Angle
+ +
+
+ +

◆ RotationMatrix()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
EulerAngle ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::RotationMatrix (const rotation::RotationMatrix & aRotationMatrix,
const EulerAngle::AxisSequence & anAxisSequence 
)
+ 		+static
+
+ +

Construct Euler Angle from Rotation Vector.

+
EulerAngle::RotationVector(
+
RotationVector::Unit(),
+
EulerAngle::AxisSequence::ZYX
+
);
+
Parameters
+ + + +
[in]aRotationVectorA Rotation Vector
[in]anAxisSequenceAn axis sequence
+
+
+
Returns
Euler Angle
+ +
+
+ +

◆ RotationVector()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
EulerAngle ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::RotationVector (const rotation::RotationVector & aRotationVector,
const EulerAngle::AxisSequence & anAxisSequence 
)
+ 		+static
+
+ +

Construct Euler Angle from Quaternion.

+
EulerAngle::Quaternion(
+
Quaternion::Unit(),
+
EulerAngle::AxisSequence::ZYX
+
);
+
Parameters
+ + + +
[in]aQuaternionA Quaternion
[in]anAxisSequenceAn axis sequence
+
+
+
Returns
Euler Angle
+ +
+
+ +

◆ StringFromAxisSequence()

+ +
+
+ + + + + +
+ + + + + + + + +
String ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::StringFromAxisSequence (const EulerAngle::AxisSequence & anAxisSequence)
+ 		+static
+
+ +

Construct a string representation of an axis sequence.

+
EulerAngle::StringFromAxisSequence(EulerAngle::AxisSequence::ZYX);
+
Parameters
+ + +
[in]anAxisSequenceAn axis sequence
+
+
+
Returns
String representation of axis sequence
+ +
+
+ +

◆ toString()

+ +
+
+ + + + + + + + +
String ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::toString (const Angle::Unit & anAngleUnit = Angle::Unit::Degree) const
+
+ +

Return string form of Euler Angle [phi; theta; psi].

+
EulerAngle::Unit().toString(Angle::Unit::Degree);
+
Parameters
+ + +
[in](optional)anAngleUnit An angle unit
+
+
+
Returns
String from of Euler Angle
+ +
+
+ +

◆ toVector()

+ +
+
+ + + + + + + + +
Vector3d ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::toVector (const Angle::Unit & anAngleUnit) const
+
+ +

Return vector containing the three angles.

+
EulerAngle::Unit().toVector(Angle::Unit::Degree);
+
Parameters
+ + +
[in]anAngleUnitAn angle unit
+
+
+
Returns
Vector containing the three angles
+ +
+
+ +

◆ Undefined()

+ +
+
+ + + + + +
+ + + + + + + +
EulerAngle ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Undefined ()
+ 		+static
+
+ +

Construct undefined Euler Angle.

+
EulerAngle::Undefined();
+
Returns
Undefined Euler Angle
+ +
+
+ +

◆ Unit()

+ +
+
+ + + + + +
+ + + + + + + +
EulerAngle ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Unit ()
+ 		+static
+
+ +

Construct unitary Euler Angle.

+
EulerAngle::Unit();
+
Returns
Unitary Euler Angle
+ +
+
+ +

◆ XYZ()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
EulerAngle ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::XYZ (const Angle & aFirstAngle,
const Angle & aSecondAngle,
const Angle & aThirdAngle 
)
+ 		+static
+
+ +

Construct Euler Angle from angles following XYZ sequence.

+
EulerAngle::XYZ(
+
Angle::Degrees(1.0),
+
Angle::Degrees(2.0),
+
Angle::Degrees(3.0)
+
);
+
Parameters
+ + + + +
[in]aFirstAngleA first angle (phi)
[in]aSecondAngleA second angle (theta)
[in]aThirdAngleA third angle (psi)
+
+
+
Returns
Euler Angle
+ +
+
+ +

◆ ZXY()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
EulerAngle ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::ZXY (const Angle & aFirstAngle,
const Angle & aSecondAngle,
const Angle & aThirdAngle 
)
+ 		+static
+
+ +

Construct Euler Angle from angles following ZXY sequence.

+
EulerAngle::ZXY(
+
Angle::Degrees(1.0),
+
Angle::Degrees(2.0),
+
Angle::Degrees(3.0)
+
);
+
Parameters
+ + + + +
[in]aFirstAngleA first angle (phi)
[in]aSecondAngleA second angle (theta)
[in]aThirdAngleA third angle (psi)
+
+
+
Returns
Euler Angle
+ +
+
+ +

◆ ZYX()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
EulerAngle ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::ZYX (const Angle & aFirstAngle,
const Angle & aSecondAngle,
const Angle & aThirdAngle 
)
+ 		+static
+
+ +

Construct Euler Angle from angles following ZYX sequence.

+
EulerAngle::ZYX(
+
Angle::Degrees(1.0),
+
Angle::Degrees(2.0),
+
Angle::Degrees(3.0)
+
);
+
Parameters
+ + + + +
[in]aFirstAngleA first angle (phi)
[in]aSecondAngleA second angle (theta)
[in]aThirdAngleA third angle (psi)
+
+
+
Returns
Euler Angle
+ +
+
+

Friends And Related Function Documentation

+ +

◆ operator<<

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
std::ostream& operator<< (std::ostream & anOutputStream,
const EulerAngle & aEulerAngle 
)
+ 		+friend
+
+ +

Output stream operator.

+
std::cout << EulerAngle::Unit();
+
Parameters
+ + + +
[in]anOutputStreamAn output stream
[in]aEulerAngleA Euler Angle
+
+
+
Returns
Output stream reference
+ +
+
+
The documentation for this class was generated from the following files:
    +
  • include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.hpp
    • +
  • src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.cpp
    • +
+
+
+
ostk::mathematics::geometry::Angle::Degrees
static Angle Degrees(const Real &aValue)
Definition: Angle.cpp:464
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::isUnitary
bool isUnitary() const
Check if Euler Angle is unitary.
Definition: EulerAngle.cpp:105
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::XYZ
static EulerAngle XYZ(const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle)
Construct Euler Angle from angles following XYZ sequence.
Definition: EulerAngle.cpp:191
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Unit
static EulerAngle Unit()
Construct unitary Euler Angle.
Definition: EulerAngle.cpp:186
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Unit
static RotationVector Unit()
Construct a unitary Rotation Vector.
Definition: RotationVector.cpp:143
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Unit
static RotationMatrix Unit()
Construct unitary Rotation Matrix.
Definition: RotationMatrix.cpp:290
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Quaternion
static EulerAngle Quaternion(const rotation::Quaternion &aQuaternion, const EulerAngle::AxisSequence &anAxisSequence)
Construct Euler Angle from Rotation Matrix.
Definition: EulerAngle.cpp:206
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::toString
String toString(const Angle::Unit &anAngleUnit=Angle::Unit::Degree) const
Return string form of Euler Angle [phi; theta; psi].
Definition: EulerAngle.cpp:165
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::ZYX
static EulerAngle ZYX(const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle)
Construct Euler Angle from angles following ZYX sequence.
Definition: EulerAngle.cpp:201
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::getPhi
Angle getPhi() const
Get first angle of rotation (phi)
Definition: EulerAngle.cpp:115
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::getAxisSequence
AxisSequence getAxisSequence() const
Get axis sequence.
Definition: EulerAngle.cpp:145
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::isDefined
bool isDefined() const
Check if Euler Angle is defined.
Definition: EulerAngle.cpp:99
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::getPsi
Angle getPsi() const
Get third angle of rotation (psi)
Definition: EulerAngle.cpp:135
+ + +
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::RotationVector
static EulerAngle RotationVector(const rotation::RotationVector &aRotationVector, const EulerAngle::AxisSequence &anAxisSequence)
Construct Euler Angle from Quaternion.
Definition: EulerAngle.cpp:255
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::ZXY
static EulerAngle ZXY(const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle)
Construct Euler Angle from angles following ZXY sequence.
Definition: EulerAngle.cpp:196
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::StringFromAxisSequence
static String StringFromAxisSequence(const EulerAngle::AxisSequence &anAxisSequence)
Construct a string representation of an axis sequence.
Definition: EulerAngle.cpp:316
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Undefined
static EulerAngle Undefined()
Construct undefined Euler Angle.
Definition: EulerAngle.cpp:181
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::EulerAngle
EulerAngle(const Angle &aFirstAngle, const Angle &aSecondAngle, const Angle &aThirdAngle, const EulerAngle::AxisSequence &anAxisSequence)
Construct Euler Angle from angles and axis sequence.
Definition: EulerAngle.cpp:24
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::getTheta
Angle getTheta() const
Get second angle of rotation (theta)
Definition: EulerAngle.cpp:125
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Unit
static Quaternion Unit()
Construct unitary Quaternion.
Definition: Quaternion.cpp:488
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::toVector
Vector3d toVector(const Angle::Unit &anAngleUnit) const
Return vector containing the three angles.
Definition: EulerAngle.cpp:155
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::isNear
bool isNear(const EulerAngle &aEulerAngle, const Angle &anAngularTolerance) const
Check if Euler Angle is equal to another Euler Angle within a given angular tolerance.
Definition: EulerAngle.cpp:110
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::RotationMatrix
static EulerAngle RotationMatrix(const rotation::RotationMatrix &aRotationMatrix, const EulerAngle::AxisSequence &anAxisSequence)
Construct Euler Angle from Rotation Vector.
Definition: EulerAngle.cpp:262
+ + + + + diff --git a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.js b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.js new file mode 100644 index 00000000..c9abfecc --- /dev/null +++ b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.js @@ -0,0 +1,23 @@ +var classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle = +[ + [ "AxisSequence", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#ac0be9aa2bd8691e11c6b2838709c168c", [ + [ "Undefined", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#ac0be9aa2bd8691e11c6b2838709c168caec0fc0100c4fc1ce4eea230c3dc10360", null ], + [ "XYZ", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#ac0be9aa2bd8691e11c6b2838709c168cae65075d550f9b5bf9992fa1d71a131be", null ], + [ "ZXY", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#ac0be9aa2bd8691e11c6b2838709c168ca07bb28478030fc8b86da84000c9860d3", null ], + [ "ZYX", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#ac0be9aa2bd8691e11c6b2838709c168ca6811254e01b3550bdb2dc46f204730dc", null ] + ] ], + [ "EulerAngle", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#a7d88d303ded4e39e598cdf566796cc9e", null ], + [ "EulerAngle", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#aef0ee3faab6cf338e6c3fef716160378", null ], + [ "getAxisSequence", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#a959afa9de94bff84008813662da769e0", null ], + [ "getPhi", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#a6a2ec66eea87c4645cc7815c82d09d0e", null ], + [ "getPsi", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#a21bb162e148332ca5c36fe4ec1d9de58", null ], + [ "getTheta", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#a13a35f51cad01171184a1feb3910b68b", null ], + [ "isDefined", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#a5140298e4d18f9b63fe1791e2785938c", null ], + [ "isNear", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#ab25e5b93b6cff6716c08d5b9de4ab2c5", null ], + [ "isUnitary", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#a75a6bd4f088b43ba2f9e7a9a1a963e64", null ], + [ "operator!=", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#a5adfa3b7def412a62f25fcb4d154f160", null ], + [ "operator==", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#a487434e408dd6301e624305f9708a1b2", null ], + [ "toString", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#a6ef0461c00dd105f6c38fe5a2ee22c94", null ], + [ "toVector", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#a511d16a1d248592a98f6fd3345bd7547", null ], + [ "operator<<", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html#a88d18669eb768c7f71a92df68c886202", null ] +]; \ No newline at end of file diff --git a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion-members.html b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion-members.html index 23a627d8..6dc8c3bc 100644 --- a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion-members.html +++ b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion-members.html @@ -92,23 +92,27 @@ crossMultiply(const Quaternion &aQuaternion) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion dotMultiply(const Quaternion &aQuaternion) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion dotProduct(const Quaternion &aQuaternion) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - exp() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - Format enum nameostk::mathematics::geometry::d3::transformation::rotation::Quaternion - getScalarPart() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - getVectorPart() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - inverse()ostk::mathematics::geometry::d3::transformation::rotation::Quaternion - isDefined() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - isNear(const Quaternion &aQuaternion, const Angle &anAngularTolerance) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - isUnitary() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - LERP(const Quaternion &aFirstQuaternion, const Quaternion &aSecondQuaternion, const Real &aRatio)ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic - log() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - NLERP(const Quaternion &aFirstQuaternion, const Quaternion &aSecondQuaternion, const Real &aRatio)ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic + EulerAngle(const rotation::EulerAngle &aEulerAngle)ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic + exp() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + Format enum nameostk::mathematics::geometry::d3::transformation::rotation::Quaternion + getScalarPart() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + getVectorPart() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + inverse()ostk::mathematics::geometry::d3::transformation::rotation::Quaternion + isDefined() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + isNear(const Quaternion &aQuaternion, const Angle &anAngularTolerance) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + isUnitary() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + LERP(const Quaternion &aFirstQuaternion, const Quaternion &aSecondQuaternion, const Real &aRatio)ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic + log() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + NLERP(const Quaternion &aFirstQuaternion, const Quaternion &aSecondQuaternion, const Real &aRatio)ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic + norm() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion normalize()ostk::mathematics::geometry::d3::transformation::rotation::Quaternion operator!=(const Quaternion &aQuaternion) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - operator*(const Vector3d &aVector) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - operator*(const Real &aScalar) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - operator*(const Real &aScalar, const Quaternion &aQuaternion)ostk::mathematics::geometry::d3::transformation::rotation::Quaternionfriend - operator*=(const Quaternion &aQuaternion)ostk::mathematics::geometry::d3::transformation::rotation::Quaternion + operator*(const Quaternion &aQuaternion) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + operator*(const Vector3d &aVector) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + operator*(const Real &aScalar) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + operator*(const Real &aScalar, const Quaternion &aQuaternion)ostk::mathematics::geometry::d3::transformation::rotation::Quaternionfriend + operator*=(const Quaternion &aQuaternion)ostk::mathematics::geometry::d3::transformation::rotation::Quaternion + operator+(const Quaternion &aQuaternion) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion operator+=(const Quaternion &aQuaternion)ostk::mathematics::geometry::d3::transformation::rotation::Quaternion operator/(const Quaternion &aQuaternion) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion operator/=(const Quaternion &aQuaternion)ostk::mathematics::geometry::d3::transformation::rotation::Quaternion @@ -127,15 +131,18 @@ s() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion ShortestRotation(const Vector3d &aFirstVector, const Vector3d &aSecondVector)ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic SLERP(const Quaternion &aFirstQuaternion, const Quaternion &aSecondQuaternion, const Real &aRatio)ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic - toString(const Quaternion::Format &aFormat) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - toString(const Integer &aPrecision=Integer::Undefined(), const Quaternion::Format &aFormat=Quaternion::Format::XYZS) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - toVector(const Quaternion::Format &aFormat=Quaternion::Format::XYZS) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - Undefined()ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic - Unit()ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic - x() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - XYZS(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic - y() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion - z() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + toConjugate() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + toInverse() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + toNormalized() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + toString(const Quaternion::Format &aFormat) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + toString(const Integer &aPrecision=Integer::Undefined(), const Quaternion::Format &aFormat=Quaternion::Format::XYZS) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + toVector(const Quaternion::Format &aFormat=Quaternion::Format::XYZS) constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + Undefined()ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic + Unit()ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic + x() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + XYZS(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)ostk::mathematics::geometry::d3::transformation::rotation::Quaternionstatic + y() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion + z() constostk::mathematics::geometry::d3::transformation::rotation::Quaternion diff --git a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion.html b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion.html index 2e508e1c..3544e8b7 100644 --- a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion.html +++ b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion.html @@ -121,35 +121,41 @@ bool operator!= (const Quaternion &aQuaternion) const  Not equal to operator. More...
  +Quaternion operator+ (const Quaternion &aQuaternion) const + Addition operator. More...
+  +Quaternion operator* (const Quaternion &aQuaternion) const + Multiplication operator (Quaternion) More...
+  Vector3d operator* (const Vector3d &aVector) const - Addition operator (quaternion) More...
+ Multiplication operator (vector) More...
  Quaternion operator* (const Real &aScalar) const  Multiplication operator (scalar) More...
  Quaternion operator/ (const Quaternion &aQuaternion) const - Division operator (quaternion) More...
+ Division operator (Quaternion) More...
  Quaternion operator^ (const Real &aScalar) const - Power operator (quaternion) More...
+ Power operator (Quaternion) More...
  Quaternion & operator+= (const Quaternion &aQuaternion) - Addition assignment operator (quaternion) More...
+ Addition assignment operator (Quaternion) More...
  Quaternion & operator*= (const Quaternion &aQuaternion) - Multiplication assignment operator (quaternion) More...
+ Multiplication assignment operator (Quaternion) More...
  Quaternion & operator/= (const Quaternion &aQuaternion) - Division assignment operator (quaternion) More...
+ Division assignment operator (Quaternion) More...
  bool isDefined () const - Check if quaternion is defined. More...
+ Check if Quaternion is defined. More...
  bool isUnitary () const - Check if quaternion is unitary, i.e. its norm is equal to 1.0. More...
+ Check if Quaternion is unitary (i.e., its norm is equal to 1.0) More...
  bool isNear (const Quaternion &aQuaternion, const Angle &anAngularTolerance) const - Check if quaternion is near a given quaternion. More...
+ Check if Quaternion is near another Quaternion. More...
  Real x () const  Get first component of vector part. More...
@@ -168,73 +174,88 @@ Real getScalarPart () const  Get scalar part. More...
  +Quaternion toNormalized () const + Calculate normalized Quaternion. More...
+  +Quaternion toConjugate () const + Calculate conjugate of Quaternion. More...
+  +Quaternion toInverse () const + Calculate inverse of Quaternion. More...
+  Quaternion exp () const - Get normalized quaternion. More...
+ Calculate exponential of Quaternion. More...
  Quaternion log () const - Get logarithm. More...
+ Calculate logarithm of Quaternion. More...
  Quaternion pow (const Real &aValue) const - Get power. More...
+ Calculate power of Quaternion. More...
  +Real norm () const + Calculate norm of Quaternion. More...
+  Quaternion crossMultiply (const Quaternion &aQuaternion) const - Get quaternion norm. More...
+ Multiply Quaternion using cross multiplication. More...
  Quaternion dotMultiply (const Quaternion &aQuaternion) const - Multiply quaternion using dot multiplication. More...
+ Multiply Quaternion using dot multiplication. More...
  Real dotProduct (const Quaternion &aQuaternion) const - Calculate quaternion dot product. More...
+ Calculate Quaternion dot product. More...
  Vector3d rotateVector (const Vector3d &aVector) const - Rotate vector using quaternion. More...
+ Rotate vector using Quaternion. More...
  Vector4d toVector (const Quaternion::Format &aFormat=Quaternion::Format::XYZS) const - Convert quaternion to its vector representation. More...
+ Convert Quaternion to its vector representation. More...
  String toString (const Quaternion::Format &aFormat) const - Convert quaternion to its string representation. More...
+ Convert Quaternion to its string representation. More...
  String toString (const Integer &aPrecision=Integer::Undefined(), const Quaternion::Format &aFormat=Quaternion::Format::XYZS) const   Quaternion & normalize () - Normalize quaternion. More...
+ Normalize Quaternion. More...
  Quaternion & conjugate () - Conjugate quaternion. More...
+ Conjugate Quaternion. More...
  Quaternion & inverse () - Inverse quaternion. More...
+ Inverse Quaternion. More...
  Quaternion & rectify () - Rectify quaternion (enforce positive scalar part) More...
+ Rectify Quaternion (enforce positive scalar part) More...
  Angle angularDifferenceWith (const Quaternion &aQuaternion) const - Get angular difference with quaternion. More...
+ Compute angular difference with Quaternion. More...
  - + - + - + - + - + + + + - + - + @@ -338,14 +359,14 @@

Constructor.

-
Quaternion quaternion = { 0.0, 0.0, 0.0, 0.1, Quaternion::Format::XYZS } ;
+
Quaternion(0.0, 0.0, 0.0, 0.1, Quaternion::Format::XYZS) ;
Parameters

Static Public Member Functions

static Quaternion Undefined ()
 Constructs an undefined quaternion. More...
 Construct undefined Quaternion. More...
 
static Quaternion Unit ()
 Constructs a unit quaternion. More...
 Construct unitary Quaternion. More...
 
static Quaternion XYZS (const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)
 Constructs a quaternion using the vector-scalar format. More...
 Construct Quaternion using the vector-scalar format. More...
 
static Quaternion RotationVector (const rotation::RotationVector &aRotationVector)
 Constructs a quaternion from a rotation vector. More...
 Construct Quaternion from rotation vector. More...
 
static Quaternion RotationMatrix (const rotation::RotationMatrix &aRotationMatrix)
 Constructs a rquaternion from a rotation matrix. More...
 Construct Quaternion from Rotation Matrix. More...
 
static Quaternion EulerAngle (const rotation::EulerAngle &aEulerAngle)
 Construct Quaternion from Euler Angle. More...
 
static Quaternion Parse (const String &aString, const Quaternion::Format &aFormat=Quaternion::Format::XYZS)
 Constructs a quaternion from a string. More...
 Construct Quaternion from string. More...
 
static Quaternion ShortestRotation (const Vector3d &aFirstVector, const Vector3d &aSecondVector)
 Constructs a quaternion describing the shortest rotation between two vectors. More...
 Construct Quaternion describing the shortest rotation between two vectors. More...
 
static Quaternion LERP (const Quaternion &aFirstQuaternion, const Quaternion &aSecondQuaternion, const Real &aRatio)
 Linear interpolator method. More...
- +
[in]aFirstComponentA first component
[in]aSecondComponentA second component
[in]aThirdComponentA third component
[in]aFourthComponentA fourth component
[in]aFormatA quaternion format
[in]aFormatA Quaternion format
@@ -379,11 +400,11 @@

Constructor.

-
Quaternion quaternion = { Vector4d(0.0, 0.0, 0.0, 0.1), Quaternion::Format::XYZS } ;
+
Quaternion({0.0, 0.0, 0.0, 0.1}, Quaternion::Format::XYZS) ;
Parameters
- +
[in]aVectorA 4D vector
[in]aFormatA quaternion format
[in]aFormatA Quaternion format
@@ -417,7 +438,7 @@

Constructor.

-
Quaternion quaternion = { Vector3d(0.0, 0.0, 0.0), 1.0 } ;
+
Quaternion({0.0, 0.0, 0.0}, 1.0);
Parameters
@@ -445,12 +466,11 @@

-

Get angular difference with quaternion.

-
Quaternion::XYZS(0.0, 0.0, 0.0, 1.0).angularDifferenceWith(Quaternion::XYZS(0.0, 0.0,
-
0.0, 1.0)) ; // 0.0 [rad]
+

Compute angular difference with Quaternion.

+
Quaternion::Unit().angularDifferenceWith(Quaternion::Unit());
Parameters

[in]aVectorPartA vector part
- +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
@@ -473,11 +493,9 @@

-

Conjugate quaternion.

-
Quaternion quaternion = Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118) ; // [0.0,
-
0.0, 0.70710678118, 0.70710678118] quaternion.conjugate() ; // [0.0, 0.0, -0.70710678118,
-
0.70710678118]
-
Returns
Reference to quaternion
+

Conjugate Quaternion.

+
Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118).conjugate();
+
Returns
Quaternion reference

@@ -497,23 +515,13 @@

-

Get quaternion norm.

-
Quaternion::XYZS(0.0, 0.0, -0.70710678118, 0.70710678118).norm() ; // 1.0
-
@encode
-
-
@return Quaternion norm
-
-
Real norm() const;
-
-
@brief Multiply quaternion using cross multiplication
-
-
@code
-
Quaternion q_1 = ...
-
Quaternion q_2 = ...
-
Quaternion q_3 = q_1.crossMultiply(q_2)
+

Multiply Quaternion using cross multiplication.

+
Quaternion q_1 = ...
+
Quaternion q_2 = ...
+
Quaternion q_3 = q_1.crossMultiply(q_2)
Parameters
- +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
@@ -537,13 +545,13 @@

-

Multiply quaternion using dot multiplication.

+

Multiply Quaternion using dot multiplication.

Quaternion q_1 = ...
Quaternion q_2 = ...
Quaternion q_3 = q_1.dotMultiply(q_2)
Parameters
- +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
@@ -567,13 +575,49 @@

-

Calculate quaternion dot product.

+

Calculate Quaternion dot product.

Quaternion q_1 = ...
Quaternion q_2 = ...
Real q_3 = q_1.dotProduct(q_2)
Parameters
- + +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
+
+
+
Returns
Quaternion
+ +

+ + +

◆ EulerAngle()

+ +
+
+ + + + + +
+ + + + + + + + +
Quaternion ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::EulerAngle (const rotation::EulerAngle & aEulerAngle)
+ 		+static
+
+ +

Construct Quaternion from Euler Angle.

+
Quaternion::EulerAngle(EulerAngle::Unit());
+
Parameters
+ +
[in]EulerAngleA Euler Angle
@@ -596,42 +640,10 @@

-

Get normalized quaternion.

-
Quaternion::XYZS(0.0, 0.0, 0.0, 1.000000000000001).toNormalized() ; // [0.0, 0.0, 0.0, 1.0]
-
@encode
-
-
@return Normalized quaternion
-
-
Quaternion toNormalized() const;
-
-
@brief Get conjugate quaternion
-
-
@code
-
Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118).toConjugate() ; // [0.0, 0.0,
-
-0.70710678118, 0.70710678118]
-
@encode
-
-
@return Conjugate quaternion
-
-
Quaternion toConjugate() const;
-
-
@brief Get inverse quaternion
-
-
@code
-
Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118).toInverse() ; // [0.0, 0.0,
-
-0.70710678118, 0.70710678118]
-
@encode
-
-
@return Inverse quaternion
-
-
Quaternion toInverse() const;
-
-
@brief Get exponential
-
-
@code
-
Quaternion q_1 = ...
-
Quaternion q_2 = q_1.exp() ;
-
Returns
Exponential
+

Calculate exponential of Quaternion.

+
Quaternion q_1 = ...
+
Quaternion q_2 = q_1.exp();
+
Returns
Quaternion

@@ -651,8 +663,8 @@

Get scalar part.

-
Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).getScalarPart() ; // 1.0
-
Returns
Scalar part
+
Quaternion::Unit().getScalarPart();
+
Returns
Real
@@ -672,8 +684,8 @@

Get vector part.

-
Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).getVectorPart() ; // [0.0, 0.0, 0.0]
-
Returns
Vector part
+
Quaternion::Unit().getVectorPart();
+
Returns
Vector
@@ -692,11 +704,9 @@

-

Inverse quaternion.

-
Quaternion quaternion = Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118) ; // [0.0,
-
0.0, 0.70710678118, 0.70710678118] quaternion.inverse() ; // [0.0, 0.0, -0.70710678118,
-
0.70710678118]
-
Returns
Reference to quaternion
+

Inverse Quaternion.

+
Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118).inverse();
+
Returns
Quaternion reference
@@ -715,9 +725,9 @@

-

Check if quaternion is defined.

-
Quaternion::XYZS(0.0, 0.0, 0.0, 1.0).isDefined() ; // True
-
Returns
True if quaternion is defined
+

Check if Quaternion is defined.

+
Quaternion::Unit().isDefined();
+
Returns
True if Quaternion is defined
@@ -747,17 +757,19 @@

-

Check if quaternion is near a given quaternion.

-
Quaternion::XYZS(0.0, 0.0, 0.0, 1.0).isNear(Quaternion::XYZS(0.0, 0.0, 0.0, 1.0 + 1e-19),
-
Angle::Radians(1e-6)) ; // True
+

Check if Quaternion is near another Quaternion.

+
Quaternion::Unit().isNear(
+
Quaternion::XYZS(0.0, 0.0, 0.0, 1.0 + 1e-19),
+
Angle::Radians(1e-6)
+
);
Parameters
- +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
[in]anAngularToleranceAn angular tolerance
-
Returns
True if quaternions are near each other
+
Returns
True if Quaternions are near each other
@@ -776,9 +788,9 @@

-

Check if quaternion is unitary, i.e. its norm is equal to 1.0.

-
Quaternion::XYZS(0.0, 0.0, 0.0, 1.0).isUnitary() ; // True
-
Returns
True if quaternion is unitary
+

Check if Quaternion is unitary (i.e., its norm is equal to 1.0)

+
Quaternion::Unit().isUnitary();
+
Returns
True if Quaternion is unitary
@@ -825,11 +837,11 @@

Quaternion q_1 = ...
Quaternion q_2 = ...
-
Quaternion q = Quaternion.LERP(q_1, q_2, 0.5)
+
Quaternion::LERP(q_1, q_2, 0.5);
Parameters
- - + +
[in]aFirstQuaternionA first quaternion
[in]aSecondQuaternionA second quaternion
[in]aFirstQuaternionA first Quaternion
[in]aSecondQuaternionA second Quaternion
[in]aRatioAn interpolator ratio
@@ -853,10 +865,10 @@

-

Get logarithm.

+

Calculate logarithm of Quaternion.

Quaternion q_1 = ...
-
Quaternion q_2 = q_1.log() ;
-
Returns
Logarithm
+
Quaternion q_2 = q_1.log();
+
Returns
Quaternion
@@ -903,17 +915,38 @@

Quaternion q_1 = ...
Quaternion q_2 = ...
-
Quaternion q = Quaternion.NLERP(q_1, q_2, 0.5)
+
Quaternion::NLERP(q_1, q_2, 0.5);
Parameters
- - + +
[in]aFirstQuaternionA first quaternion
[in]aSecondQuaternionA second quaternion
[in]aFirstQuaternionA first Quaternion
[in]aSecondQuaternionA second Quaternion
[in]aRatioAn interpolator ratio
Returns
Quaternion
+ + + +

◆ norm()

+ +
+
+ + + + + + + +
Real ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::norm () const
+
+ +

Calculate norm of Quaternion.

+
Quaternion::XYZS(0.0, 0.0, -0.70710678118, 0.70710678118).norm();
+
Returns
Quaternion norm
+
@@ -931,10 +964,9 @@

-

Normalize quaternion.

-
Quaternion quaternion = Quaternion::XYZS(0.0, 0.0, 0.0, 1.000000000000001) ; // [0.0, 0.0,
-
0.0, 1.000000000000001] quaternion.normalize() ; // [0.0, 0.0, 0.0, 1.0]
-
Returns
Reference to quaternion
+

Normalize Quaternion.

+
Quaternion::XYZS(0.0, 0.0, 0.0, 1.000000000000001).normalize();
+
Returns
Quaternion reference
@@ -955,19 +987,50 @@

Not equal to operator.

-
Quaternion::XYZS(0.0, 0.0, 0.0, 1.0) != Quaternion::XYZS(1.0, 0.0, 0.0, 0.0) ; // True
+
Quaternion::Unit() != Quaternion::Unit();
Parameters
- +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
-
Returns
True if quaternions are not equal
+
Returns
True if Quaternions are not equal
+ +
+ + +

◆ operator*() [1/3]

+ +
+
+ + + + + + + + +
Quaternion ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator* (const Quaternion & aQuaternion) const
+
+ +

Multiplication operator (Quaternion)

+
Quaternion q_B_A = ... ;
+
Quaternion q_C_B = ... ;
+
Quaternion q_C_A = q_C_B * q_B_A ;
+
Note
This operator uses cross multiplication
+
Parameters
+ + +
[in]aQuaternionA Quaternion
+
+
+
Returns
Quaternion
-

◆ operator*() [1/2]

+

◆ operator*() [2/3]

@@ -983,7 +1046,7 @@

Multiplication operator (scalar)

-

Example:

Quaternion q_1 = ... ;
+
Quaternion q_1 = ... ;
Real scalar = ... ;
Quaternion q_2 = q_1 * scalar ;
Parameters
@@ -997,7 +1060,7 @@

-

◆ operator*() [2/2]

+

◆ operator*() [3/3]

@@ -1012,39 +1075,10 @@

-

Addition operator (quaternion)

-
Quaternion q_1 = ... ;
-
Quaternion q_2 = ... ;
-
Quaternion q_3 = q_1 + q_2 ;
-
@encode
-
-
@param [in] aQuaternion A quaternion
-
@return Quaternion
-
-
Quaternion operator+(const Quaternion& aQuaternion) const;
-
-
@brief Multiplication operator (quaternion)
-
-
@code
-
Quaternion q_B_A = ... ;
-
Quaternion q_C_B = ... ;
-
Quaternion q_C_A = q_C_B * q_B_A ;
-
@encode
-
-
@note This operator uses cross multiplication
-
-
@param [in] aQuaternion A quaternion
-
@return Quaternion
-
-
Quaternion operator*(const Quaternion& aQuaternion) const;
-
-
@brief Multiplication operator (vector)
-
-
Example:
-
@code
-
Quaternion q_B_A = ... ;
-
Vector3d v_A = ... ;
-
Vector3d v_B = q_B_A * v_A ;
+

Multiplication operator (vector)

+
Quaternion q_B_A = ... ;
+
Vector3d v_A = ... ;
+
Vector3d v_B = q_B_A * v_A ;
Note
This operator uses transformVector
Parameters
@@ -1072,15 +1106,45 @@

-

Multiplication assignment operator (quaternion)

+

Multiplication assignment operator (Quaternion)

Note
This operator uses cross multiplication
Parameters

- +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
-
Returns
Reference to quaternion
+
Returns
Quaternion reference
+ +
+

+ +

◆ operator+()

+ +
+
+ + + + + + + + +
Quaternion ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator+ (const Quaternion & aQuaternion) const
+
+ +

Addition operator.

+
Quaternion q_1 = ... ;
+
Quaternion q_2 = ... ;
+
Quaternion q_3 = q_1 + q_2 ;
+
Parameters
+ + +
[in]aQuaternionA Quaternion
+
+
+
Returns
Quaternion
@@ -1100,14 +1164,14 @@

-

Addition assignment operator (quaternion)

+

Addition assignment operator (Quaternion)

Parameters
- +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
-
Returns
Reference to quaternion
+
Returns
Quaternion reference

@@ -1127,14 +1191,14 @@

-

Division operator (quaternion)

+

Division operator (Quaternion)

Quaternion q_A_B = ... ;
Quaternion q_C_B = ... ;
Quaternion q_C_A = q_C_B / q_A_B ;
Note
This is equivalent to multiplying with the inverse
Parameters
- +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
@@ -1158,15 +1222,15 @@

-

Division assignment operator (quaternion)

+

Division assignment operator (Quaternion)

Note
This is equivalent to multiplying with the inverse
Parameters
- +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
-
Returns
Reference to quaternion
+
Returns
Quaternion reference

@@ -1187,14 +1251,14 @@

Equal to operator.

-
Quaternion::XYZS(0.0, 0.0, 0.0, 1.0) == Quaternion::XYZS(0.0, 0.0, 0.0, 1.0) ; // True
+
Quaternion::Unit() == Quaternion::Unit()
Parameters
- +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
-
Returns
True if quaternions are equal
+
Returns
True if Quaternions are equal
@@ -1214,7 +1278,7 @@

-

Power operator (quaternion)

+

Power operator (Quaternion)

Quaternion q_1 = ... ;
Real scalar = ... ;
Quaternion q_2 = q_1 ^ scalar ;
@@ -1262,12 +1326,12 @@

-

Constructs a quaternion from a string.

-
Quaternion quaternion = Quaternion::Parse("[0.0, 0.0, 0.0, 1.0]") ; // [0.0, 0.0, 0.0, 1.0]
+

Construct Quaternion from string.

+
Quaternion::Parse("[0.0, 0.0, 0.0, 1.0]");
Parameters
- +
[in]aStringA string
[in](optional)aFormat A quaternion format
[in](optional)aFormat A Quaternion format
@@ -1291,7 +1355,7 @@

-

Get power.

+

Calculate power of Quaternion.

Quaternion q_1 = ...
Real scalar = ...
Quaternion q_2 = q_1 ^ scalar ;
@@ -1301,7 +1365,7 @@

Returns
Power

+
Returns
Quaternion
@@ -1320,11 +1384,9 @@

-

Rectify quaternion (enforce positive scalar part)

-
Quaternion quaternion = Quaternion::XYZS(0.0, 0.0, -0.70710678118, -0.70710678118) ; //
-
[0.0, 0.0, -0.70710678118, -0.70710678118] quaternion.rectify() ; // [0.0, 0.0,
-
0.70710678118, 0.70710678118]
-
Returns
Reference to quaternion
+

Rectify Quaternion (enforce positive scalar part)

+
Quaternion::XYZS(0.0, 0.0, -0.70710678118, -0.70710678118).rectify();
+
Returns
Quaternion reference
@@ -1344,13 +1406,12 @@

-

Rotate vector using quaternion.

-
Quaternion q = ...
-
Vector3d v_1 = ...
-
Vector3d v_2 = q.rotateVector(v_1)
+

Rotate vector using Quaternion.

+
Vector3d v_1 = ...
+
Vector3d v_2 = q.rotateVector(v_1);
Parameters
- +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
@@ -1382,11 +1443,11 @@

-

Constructs a rquaternion from a rotation matrix.

-
Quaternion quaternion = Quaternion::RotationMatrix(RotationMatrix::Unit()) ;
+

Construct Quaternion from Rotation Matrix.

+
Quaternion::RotationMatrix(RotationMatrix::Unit());
Parameters
- +
[in]aRotationMatrixA rotation matrix
[in]aRotationMatrixA Rotation Matrix
@@ -1419,12 +1480,11 @@

-

Constructs a quaternion from a rotation vector.

-
Quaternion quaternion = Quaternion::RotationVector(RotationVector(Vector3d(0.0, 0.0, 1.0),
-
Angle::Degrees(0.0))) ; // [0.0, 0.0, 0.0, 1.0]
+

Construct Quaternion from rotation vector.

+
Quaternion::RotationVector(RotationVector::Unit());
Parameters
- +
[in]aRotationVectorA rotation vector
[in]aRotationVectorA Rotation Vector
@@ -1448,8 +1508,8 @@

@bref Get scalar part

-
Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).s() ; // &1.0
-
Returns
Scalar part
+
Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).s();
+
Returns
Real

@@ -1487,10 +1547,8 @@

-

Constructs a quaternion describing the shortest rotation between two vectors.

-
Vector3d v_1 = ...
-
Vector3d v_2 = ...
-
Quaternion q = Quaternion.ShortestRotation(v_1, v_2)
+

Construct Quaternion describing the shortest rotation between two vectors.

+
Quaternion::ShortestRotation({1.0, 0.0, 0.0}, {0.0, 1.0, 0.0});
Parameters
@@ -1545,17 +1603,80 @@

https://en.wikipedia.org/wiki/Slerp

Quaternion q_1 = ...
Quaternion q_2 = ...
-
Quaternion q = Quaternion.SLERP(q_1, q_2, 0.5)
+
Quaternion::SLERP(q_1, q_2, 0.5);
Parameters

[in]aFirstVectorA first vector
- - + +
[in]aFirstQuaternionA first quaternion
[in]aSecondQuaternionA second quaternion
[in]aFirstQuaternionA first Quaternion
[in]aSecondQuaternionA second Quaternion
[in]aRatioAn interpolator ratio
Returns
Quaternion
+
+

+ +

◆ toConjugate()

+ +
+
+ + + + + + + +
Quaternion ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toConjugate () const
+
+ +

Calculate conjugate of Quaternion.

+
Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118).toConjugate();
+
Returns
Quaternion
+ +
+
+ +

◆ toInverse()

+ +
+
+ + + + + + + +
Quaternion ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toInverse () const
+
+ +

Calculate inverse of Quaternion.

+
Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118).toInverse();
+
Returns
Quaternion
+ +
+
+ +

◆ toNormalized()

+ +
+
+ + + + + + + +
Quaternion ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toNormalized () const
+
+ +

Calculate normalized Quaternion.

+
Quaternion::XYZS(0.0, 0.0, 0.0, 1.000000000000001).toNormalized();
+
Returns
Quaternion
+
@@ -1602,12 +1723,12 @@

-

Convert quaternion to its string representation.

-
Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).toString() ; // "[0.0, 0.0, 0.0, 1.0]"
+

Convert Quaternion to its string representation.

+
Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).toString();
Parameters
- - + +
[in](optional)aPrecision A quaternion precision
[in](optional)aFormat A quaternion format
[in](optional)aPrecision A Quaternion precision
[in](optional)aFormat A Quaternion format
@@ -1631,11 +1752,11 @@

-

Convert quaternion to its vector representation.

-
Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).toVector() ; // [0.0, 0.0, 0.0, 1.0]
+

Convert Quaternion to its vector representation.

+
Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).toVector();
Parameters
- +
[in](optional)aFormat A quaternion format
[in](optional)aFormat A Quaternion format
@@ -1666,9 +1787,9 @@

-

Constructs an undefined quaternion.

-
Quaternion quaternion = Quaternion::Undefined() ; // Undefined
-
Returns
Undefined quaternion
+

Construct undefined Quaternion.

+
Quaternion::Undefined();
+
Returns
Quaternion

@@ -1695,9 +1816,9 @@

-

Constructs a unit quaternion.

-
Quaternion quaternion = Quaternion::Unit() ; // [0.0, 0.0, 0.0, 1.0]
-
Returns
Unit quaternion
+

Construct unitary Quaternion.

+
Quaternion::Unit();
+
Returns
Quaternion
@@ -1717,8 +1838,8 @@

Get first component of vector part.

-
Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).x() ; // &0.0
-
Returns
First component of vector part
+
Quaternion::Unit().x();
+
Returns
Real
@@ -1768,8 +1889,8 @@

-

Constructs a quaternion using the vector-scalar format.

-
Quaternion quaternion = Quaternion::XYZS(0.0, 0.0, 0.0, 1.0) ; // [0.0, 0.0, 0.0, 1.0]
+

Construct Quaternion using the vector-scalar format.

+
Quaternion::XYZS(0.0, 0.0, 0.0, 1.0);
Parameters
@@ -1799,8 +1920,8 @@

Get second component of vector part.

-
Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).y() ; // &0.0
-
Returns
Second component of vector part
+
Quaternion::Unit().y();
+
Returns
Real
@@ -1820,8 +1941,8 @@

Get third component of vector part.

-
Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).z() ; // &0.0
-
Returns
Third component of vector part
+
Quaternion::Unit().z();
+
Returns
Real
@@ -1861,13 +1982,13 @@

Multiplication operator (scalar)

-

Example:

Real scalar = ... ;
+
Real scalar = ... ;
Quaternion q_1 = ... ;
Quaternion q_2 = scalar * q_1 ;
Parameters

[in]aFirstComponentA first component
- +
[in]aScalarA scalar
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
@@ -1910,15 +2031,15 @@

Output stream operator.

-
std::cout << Quaternion::XYZS(0.0, 0.0, 0.0, 1.0) ;
+
std::cout << Quaternion::XYZS(0.0, 0.0, 0.0, 1.0);
Parameters
- +
[in]anOutputStreamAn output stream
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
-
Returns
A reference to output stream
+
Returns
Output stream reference

@@ -1928,26 +2049,38 @@

ostk::mathematics::geometry::Angle::Degrees
static Angle Degrees(const Real &aValue)
Definition: Angle.cpp:433
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Unit
static RotationMatrix Unit()
Constructs a unit rotation matrix.
Definition: RotationMatrix.cpp:288
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Quaternion
Quaternion(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent, const Quaternion::Format &aFormat)
Constructor.
Definition: Quaternion.cpp:23
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::angularDifferenceWith
Angle angularDifferenceWith(const Quaternion &aQuaternion) const
Get angular difference with quaternion.
Definition: Quaternion.cpp:470
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::RotationVector
static Quaternion RotationVector(const rotation::RotationVector &aRotationVector)
Constructs a quaternion from a rotation vector.
Definition: Quaternion.cpp:499
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Undefined
static Quaternion Undefined()
Constructs an undefined quaternion.
Definition: Quaternion.cpp:482
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::isNear
bool isNear(const Quaternion &aQuaternion, const Angle &anAngularTolerance) const
Check if quaternion is near a given quaternion.
Definition: Quaternion.cpp:178
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::isUnitary
bool isUnitary() const
Check if quaternion is unitary, i.e. its norm is equal to 1.0.
Definition: Quaternion.cpp:168
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::isDefined
bool isDefined() const
Check if quaternion is defined.
Definition: Quaternion.cpp:163
-
ostk::mathematics::geometry::Angle::Radians
static Angle Radians(const Real &aValue)
Definition: Angle.cpp:428
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::getScalarPart
Real getScalarPart() const
Get scalar part.
Definition: Quaternion.cpp:240
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Unit
static EulerAngle Unit()
Construct unitary Euler Angle.
Definition: EulerAngle.cpp:186
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::x
Real x() const
Get first component of vector part.
Definition: Quaternion.cpp:190
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toConjugate
Quaternion toConjugate() const
Calculate conjugate of Quaternion.
Definition: Quaternion.cpp:255
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Unit
static RotationVector Unit()
Construct a unitary Rotation Vector.
Definition: RotationVector.cpp:143
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Unit
static RotationMatrix Unit()
Construct unitary Rotation Matrix.
Definition: RotationMatrix.cpp:290
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::norm
Real norm() const
Calculate norm of Quaternion.
Definition: Quaternion.cpp:302
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Quaternion
Quaternion(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent, const Quaternion::Format &aFormat)
Constructor.
Definition: Quaternion.cpp:24
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::angularDifferenceWith
Angle angularDifferenceWith(const Quaternion &aQuaternion) const
Compute angular difference with Quaternion.
Definition: Quaternion.cpp:471
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::RotationVector
static Quaternion RotationVector(const rotation::RotationVector &aRotationVector)
Construct Quaternion from rotation vector.
Definition: Quaternion.cpp:500
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::ShortestRotation
static Quaternion ShortestRotation(const Vector3d &aFirstVector, const Vector3d &aSecondVector)
Construct Quaternion describing the shortest rotation between two vectors.
Definition: Quaternion.cpp:655
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Undefined
static Quaternion Undefined()
Construct undefined Quaternion.
Definition: Quaternion.cpp:483
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::isNear
bool isNear(const Quaternion &aQuaternion, const Angle &anAngularTolerance) const
Check if Quaternion is near another Quaternion.
Definition: Quaternion.cpp:179
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toNormalized
Quaternion toNormalized() const
Calculate normalized Quaternion.
Definition: Quaternion.cpp:250
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::isUnitary
bool isUnitary() const
Check if Quaternion is unitary (i.e., its norm is equal to 1.0)
Definition: Quaternion.cpp:169
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::isDefined
bool isDefined() const
Check if Quaternion is defined.
Definition: Quaternion.cpp:164
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::getVectorPart
Vector3d getVectorPart() const
Get vector part.
Definition: Quaternion.cpp:230
+
ostk::mathematics::geometry::Angle::Radians
static Angle Radians(const Real &aValue)
Definition: Angle.cpp:459
ostk::mathematics::object::Vector3d
Eigen::Vector3d Vector3d
Definition: Vector.hpp:38
-
ostk::mathematics::object::Vector4d
Eigen::Vector4d Vector4d
Definition: Vector.hpp:39
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::inverse
Quaternion & inverse()
Inverse quaternion.
Definition: Quaternion.cpp:430
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::XYZS
static Quaternion XYZS(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)
Constructs a quaternion using the vector-scalar format.
Definition: Quaternion.cpp:492
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::operator*
Vector3d operator*(const Vector3d &aVector) const
Addition operator (quaternion)
Definition: Quaternion.cpp:81
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::conjugate
Quaternion & conjugate()
Conjugate quaternion.
Definition: Quaternion.cpp:416
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::RotationMatrix
static Quaternion RotationMatrix(const rotation::RotationMatrix &aRotationMatrix)
Constructs a rquaternion from a rotation matrix.
Definition: Quaternion.cpp:511
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Unit
static Quaternion Unit()
Constructs a unit quaternion.
Definition: Quaternion.cpp:487
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Parse
static Quaternion Parse(const String &aString, const Quaternion::Format &aFormat=Quaternion::Format::XYZS)
Constructs a quaternion from a string.
Definition: Quaternion.cpp:572
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::inverse
Quaternion & inverse()
Inverse Quaternion.
Definition: Quaternion.cpp:431
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::XYZS
static Quaternion XYZS(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)
Construct Quaternion using the vector-scalar format.
Definition: Quaternion.cpp:493
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::y
Real y() const
Get second component of vector part.
Definition: Quaternion.cpp:200
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::rectify
Quaternion & rectify()
Rectify Quaternion (enforce positive scalar part)
Definition: Quaternion.cpp:453
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::z
Real z() const
Get third component of vector part.
Definition: Quaternion.cpp:210
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::toInverse
Quaternion toInverse() const
Calculate inverse of Quaternion.
Definition: Quaternion.cpp:260
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::normalize
Quaternion & normalize()
Normalize Quaternion.
Definition: Quaternion.cpp:400
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::conjugate
Quaternion & conjugate()
Conjugate Quaternion.
Definition: Quaternion.cpp:417
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::RotationMatrix
static Quaternion RotationMatrix(const rotation::RotationMatrix &aRotationMatrix)
Construct Quaternion from Rotation Matrix.
Definition: Quaternion.cpp:512
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Unit
static Quaternion Unit()
Construct unitary Quaternion.
Definition: Quaternion.cpp:488
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::EulerAngle
static Quaternion EulerAngle(const rotation::EulerAngle &aEulerAngle)
Construct Quaternion from Euler Angle.
Definition: Quaternion.cpp:576
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Parse
static Quaternion Parse(const String &aString, const Quaternion::Format &aFormat=Quaternion::Format::XYZS)
Construct Quaternion from string.
Definition: Quaternion.cpp:636
diff --git a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix.html b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix.html index 9a7f9f35..508449ea 100644 --- a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix.html +++ b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix.html @@ -122,10 +122,10 @@  Index function operator. More...
  bool isDefined () const - Check if rotation matrix is defined. More...
+ Check if Rotation Matrix is defined. More...
  const Matrix3d & accessMatrix () const - Access underlying rotation matrix. More...
+ Access underlying 3D Matrix. More...
  Vector3d getRowAt (const Index &aRowIndex) const  Get row at index. More...
@@ -134,44 +134,47 @@  Get column at index. More...
  Matrix3d getMatrix () const - Get underlying rotation matrix. More...
+ Get underlying 3D Matrix. More...
  RotationMatrix toTransposed () const - Get transposed rotation matrix. More...
+ Calculate transposed Rotation Matrix. More...
  RotationMatrix & transpose () - Transpose rotation matrix. More...
+ Transpose Rotation Matrix. More...
  - + - + - + - + - + - + - + - + - + + + +

Static Public Member Functions

static RotationMatrix Undefined ()
 Constructs an undefined rotation matrix. More...
 Construct an undefined Rotation Matrix. More...
 
static RotationMatrix Unit ()
 Constructs a unit rotation matrix. More...
 Construct unitary Rotation Matrix. More...
 
static RotationMatrix RX (const Angle &aRotationAngle)
 Constructs a rotation matrix representing a rotation around the X-axis. More...
 Construct Rotation Matrix representing a rotation around the X-axis. More...
 
static RotationMatrix RY (const Angle &aRotationAngle)
 Constructs a rotation matrix representing a rotation around the Y-axis. More...
 Construct Rotation Matrix representing a rotation around the Y-axis. More...
 
static RotationMatrix RZ (const Angle &aRotationAngle)
 Constructs a rotation matrix representing a rotation around the Z-axis. More...
 Construct Rotation Matrix representing a rotation around the Z-axis. More...
 
static RotationMatrix Rows (const Vector3d &aFirstRow, const Vector3d &aSecondRow, const Vector3d &aThirdRow)
 Constructs a rotation matrix from row vectors. More...
 Construct Rotation Matrix from row vectors. More...
 
static RotationMatrix Columns (const Vector3d &aFirstColumn, const Vector3d &aSecondColumn, const Vector3d &aThirdColumn)
 Constructs a rotation matrix from column vectors. More...
 Construct Rotation Matrix from column vectors. More...
 
static RotationMatrix Quaternion (const rotation::Quaternion &aQuaternion)
 Constructs a rotation matrix from a quaternion. More...
 Construct Rotation Matrix from Quaternion. More...
 
static RotationMatrix RotationVector (const rotation::RotationVector &aRotationVector)
 Constructs a rotation matrix from a rotation vector. More...
 Construct Rotation Matrix from Rotation Vector. More...
 
static RotationMatrix EulerAngle (const rotation::EulerAngle &aEulerAngle)
 Construct Rotation Matrix from Euler Angle. More...
 
@@ -311,8 +314,8 @@

-

Access underlying rotation matrix.

-
Returns
Reference to underlying rotation matrix
+

Access underlying 3D Matrix.

+
Returns
Matrix reference
@@ -356,9 +359,8 @@

-

Constructs a rotation matrix from column vectors.

-
RotationMatrix rotationMatrix = RotationMatrix::Columns(Vector3d(1.0, 0.0, 0.0),
-
Vector3d(1.0, 0.0, 0.0), Vector3d(1.0, 0.0, 0.0)) ;
+

Construct Rotation Matrix from column vectors.

+
RotationMatrix::Columns({1.0, 0.0, 0.0}, {1.0, 0.0, 0.0}, {1.0, 0.0, 0.0});
Parameters

Friends

@@ -369,6 +371,42 @@

Returns
Rotation matrix
+ + + +

◆ EulerAngle()

+ +
+
+

[in]aFirstColumnA first column
+ + + + +
+ + + + + + + + +
RotationMatrix ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::EulerAngle (const rotation::EulerAngle & aEulerAngle)
+ 		+static
+
+ +

Construct Rotation Matrix from Euler Angle.

+
RotationMatrix::EulerAngle(EulerAngle::Unit());
+
Parameters
+ + +
[in]aEulerAngleA Euler Angle
+
+
+
Returns
Rotation matrix
+
@@ -394,7 +432,7 @@

Returns
Column at index
+
Returns
Vector
@@ -413,8 +451,8 @@

-

Get underlying rotation matrix.

-
Returns
Underlying rotation matrix
+

Get underlying 3D Matrix.

+
Returns
Matrix
@@ -441,7 +479,7 @@

Returns
Row at index
+
Returns
Vector
@@ -460,9 +498,9 @@

-

Check if rotation matrix is defined.

-
RotationMatrix(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)).isDefined() ; // True
-
Returns
True if rotation matrix is defined
+

Check if Rotation Matrix is defined.

+
RotationMatrix(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)).isDefined();
+
Returns
True if Rotation Matrix is defined
@@ -483,10 +521,10 @@

Not equal to operator.

-
RotationMatrix(...) != RotationMatrix(...) ;
+
RotationMatrix(...) != RotationMatrix(...);
Parameters
- +
[in]aRotationMatrixA rotation matrix
[in]aRotationMatrixA Rotation Matrix
@@ -521,7 +559,7 @@

Index function operator.

-
RotationMatrix rotationMatrix = RotationMatrix::Unit() ;
+
RotationMatrix::Unit();
rotationMatrix(0, 0) = 0.0 ;
Parameters
@@ -561,8 +599,8 @@

Index function operator.

-
RotationMatrix rotationMatrix = RotationMatrix::Unit() ;
-
double value_00 = rotationMatrix(0, 0) ; // 1.0
+
RotationMatrix::Unit();
+
double value_00 = rotationMatrix(0, 0); // 1.0
Parameters

@@ -596,7 +634,7 @@

RotationMatrix rotationMatrix_A_C = rotationMatrix_A_B * rotationMatrix_B_C ;
Parameters

[in]aRowIndexA row index
- +
[in]aRotationMatrixA rotation matrix
[in]aRotationMatrixA Rotation Matrix
@@ -651,10 +689,10 @@

Equal to operator.

-
RotationMatrix(...) == RotationMatrix(...) ;
+
RotationMatrix(...) == RotationMatrix(...);
Parameters
- +
[in]aRotationMatrixA rotation matrix
[in]aRotationMatrixA Rotation Matrix
@@ -686,12 +724,11 @@

-

Constructs a rotation matrix from a quaternion.

-
RotationMatrix rotationMatrix = RotationMatrix::Quaternion(Quaternion::XYZS(0.0, 0.0,
-
0.0, 1.0)) ;
+

Construct Rotation Matrix from Quaternion.

+
RotationMatrix::Quaternion(Quaternion::Unit());
Parameters
- +
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
@@ -723,12 +760,11 @@

-

Constructs a rotation matrix from a rotation vector.

-
RotationMatrix rotationMatrix = RotationMatrix::RotationVector(Vector3d(0.0, 0.0, 1.0),
-
Angle::Degrees(90.0)) ;
+

Construct Rotation Matrix from Rotation Vector.

+
RotationMatrix::RotationVector(RotationVector::Unit());
Parameters
- +
[in]aRotationVectorA rotation vector
[in]aRotationVectorA Rotation Vector
@@ -776,9 +812,8 @@

-

Constructs a rotation matrix from row vectors.

-
RotationMatrix rotationMatrix = RotationMatrix::Rows(Vector3d(1.0, 0.0, 0.0), Vector3d(1.0,
-
0.0, 0.0), Vector3d(1.0, 0.0, 0.0)) ;
+

Construct Rotation Matrix from row vectors.

+
RotationMatrix::Rows({1.0, 0.0, 0.0}, {1.0, 0.0, 0.0}, {1.0, 0.0, 0.0});
Parameters
@@ -815,8 +850,8 @@

-

Constructs a rotation matrix representing a rotation around the X-axis.

-
RotationMatrix rotationMatrix = RotationMatrix::RX(Angle::Degrees(30.0)) ;
+

Construct Rotation Matrix representing a rotation around the X-axis.

+
RotationMatrix::RX(Angle::Degrees(30.0));
Parameters

[in]aFirstRowA first row
@@ -851,8 +886,8 @@

-

Constructs a rotation matrix representing a rotation around the Y-axis.

-
RotationMatrix rotationMatrix = RotationMatrix::RY(Angle::Degrees(30.0)) ;
+

Construct Rotation Matrix representing a rotation around the Y-axis.

+
RotationMatrix::RY(Angle::Degrees(30.0));
Parameters

[in]aRotationAngleA rotation angle
@@ -887,8 +922,8 @@

-

Constructs a rotation matrix representing a rotation around the Z-axis.

-
RotationMatrix rotationMatrix = RotationMatrix::RZ(Angle::Degrees(30.0)) ;
+

Construct Rotation Matrix representing a rotation around the Z-axis.

+
RotationMatrix::RZ(Angle::Degrees(30.0));
Parameters

[in]aRotationAngleA rotation angle
@@ -914,9 +949,9 @@

-

Get transposed rotation matrix.

-
RotationMatrix(...).toTransposed() ;
-
Returns
Transposed rotation matrix
+

Calculate transposed Rotation Matrix.

+
RotationMatrix(...).toTransposed();
+
Returns
Rotation Matrix
@@ -935,9 +970,10 @@

-

Transpose rotation matrix.

-
RotationMatrix(...).transpose() ;
-
+

Transpose Rotation Matrix.

+
RotationMatrix(...).transpose();
+
Returns
Rotation Matrix reference
+ @@ -963,9 +999,9 @@

-

Constructs an undefined rotation matrix.

-
RotationMatrix rotationMatrix = RotationMatrix::Undefined() ; // Undefined
-
Returns
Undefined rotation matrix
+

Construct an undefined Rotation Matrix.

+
RotationMatrix::Undefined();
+
Returns
Rotation Matrix
@@ -992,9 +1028,9 @@

-

Constructs a unit rotation matrix.

-
RotationMatrix rotationMatrix = RotationMatrix::Unit() ;
-
Returns
Unit rotation matrix
+

Construct unitary Rotation Matrix.

+
RotationMatrix::Unit();
+
Returns
Rotation Matrix
@@ -1034,15 +1070,15 @@

Output stream operator.

-
std::cout << RotationMatrix(...) ;
+
std::cout << RotationMatrix(...);
Parameters

[in]aRotationAngleA rotation angle
- +
[in]anOutputStreamAn output stream
[in]aRotationMatrixA rotation matrix
[in]aRotationMatrixA Rotation Matrix
-
Returns
A reference to output stream
+
Returns
Output stream reference

@@ -1052,19 +1088,22 @@

ostk::mathematics::geometry::Angle::Degrees
static Angle Degrees(const Real &aValue)
Definition: Angle.cpp:433

-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Unit
static RotationMatrix Unit()
Constructs a unit rotation matrix.
Definition: RotationMatrix.cpp:288
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Undefined
static RotationMatrix Undefined()
Constructs an undefined rotation matrix.
Definition: RotationMatrix.cpp:283
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Rows
static RotationMatrix Rows(const Vector3d &aFirstRow, const Vector3d &aSecondRow, const Vector3d &aThirdRow)
Constructs a rotation matrix from row vectors.
Definition: RotationMatrix.cpp:344
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RY
static RotationMatrix RY(const Angle &aRotationAngle)
Constructs a rotation matrix representing a rotation around the Y-axis.
Definition: RotationMatrix.cpp:310
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RZ
static RotationMatrix RZ(const Angle &aRotationAngle)
Constructs a rotation matrix representing a rotation around the Z-axis.
Definition: RotationMatrix.cpp:327
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RotationVector
static RotationMatrix RotationVector(const rotation::RotationVector &aRotationVector)
Constructs a rotation matrix from a rotation vector.
Definition: RotationMatrix.cpp:497
+
ostk::mathematics::geometry::Angle::Degrees
static Angle Degrees(const Real &aValue)
Definition: Angle.cpp:464
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Unit
static EulerAngle Unit()
Construct unitary Euler Angle.
Definition: EulerAngle.cpp:186
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Unit
static RotationVector Unit()
Construct a unitary Rotation Vector.
Definition: RotationVector.cpp:143
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Unit
static RotationMatrix Unit()
Construct unitary Rotation Matrix.
Definition: RotationMatrix.cpp:290
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Undefined
static RotationMatrix Undefined()
Construct an undefined Rotation Matrix.
Definition: RotationMatrix.cpp:285
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Rows
static RotationMatrix Rows(const Vector3d &aFirstRow, const Vector3d &aSecondRow, const Vector3d &aThirdRow)
Construct Rotation Matrix from row vectors.
Definition: RotationMatrix.cpp:346
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RY
static RotationMatrix RY(const Angle &aRotationAngle)
Construct Rotation Matrix representing a rotation around the Y-axis.
Definition: RotationMatrix.cpp:312
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RZ
static RotationMatrix RZ(const Angle &aRotationAngle)
Construct Rotation Matrix representing a rotation around the Z-axis.
Definition: RotationMatrix.cpp:329
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RotationVector
static RotationMatrix RotationVector(const rotation::RotationVector &aRotationVector)
Construct Rotation Matrix from Rotation Vector.
Definition: RotationMatrix.cpp:499
ostk::mathematics::object::Vector3d
Eigen::Vector3d Vector3d
Definition: Vector.hpp:38
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::XYZS
static Quaternion XYZS(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)
Constructs a quaternion using the vector-scalar format.
Definition: Quaternion.cpp:492
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RotationMatrix
RotationMatrix(const Matrix3d &aMatrix)
Constructor.
Definition: RotationMatrix.cpp:23
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RX
static RotationMatrix RX(const Angle &aRotationAngle)
Constructs a rotation matrix representing a rotation around the X-axis.
Definition: RotationMatrix.cpp:293
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Columns
static RotationMatrix Columns(const Vector3d &aFirstColumn, const Vector3d &aSecondColumn, const Vector3d &aThirdColumn)
Constructs a rotation matrix from column vectors.
Definition: RotationMatrix.cpp:399
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Quaternion
static RotationMatrix Quaternion(const rotation::Quaternion &aQuaternion)
Constructs a rotation matrix from a quaternion.
Definition: RotationMatrix.cpp:456
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RotationMatrix
RotationMatrix(const Matrix3d &aMatrix)
Constructor.
Definition: RotationMatrix.cpp:24
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::RX
static RotationMatrix RX(const Angle &aRotationAngle)
Construct Rotation Matrix representing a rotation around the X-axis.
Definition: RotationMatrix.cpp:295
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Columns
static RotationMatrix Columns(const Vector3d &aFirstColumn, const Vector3d &aSecondColumn, const Vector3d &aThirdColumn)
Construct Rotation Matrix from column vectors.
Definition: RotationMatrix.cpp:401
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Unit
static Quaternion Unit()
Construct unitary Quaternion.
Definition: Quaternion.cpp:488
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::EulerAngle
static RotationMatrix EulerAngle(const rotation::EulerAngle &aEulerAngle)
Construct Rotation Matrix from Euler Angle.
Definition: RotationMatrix.cpp:533
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Quaternion
static RotationMatrix Quaternion(const rotation::Quaternion &aQuaternion)
Construct Rotation Matrix from Quaternion.
Definition: RotationMatrix.cpp:458

diff --git a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector.html b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector.html index f18246d3..b5dc8655 100644 --- a/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector.html +++ b/html/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector.html @@ -90,7 +90,7 @@

-

Rotation vector. +

Rotation Vector. More...

#include <RotationVector.hpp>

@@ -100,6 +100,9 @@  RotationVector (const Vector3d &anAxis, const Angle &anAngle)  Constructor. More...
  + RotationVector (const Vector3d &anAxis, const Angle::Unit &anAngleUnit) + Construct Rotation Vector from vector and angle unit The norm of the vector defines the rotation angle. More...
+  bool operator== (const RotationVector &aRotationVector) const  Equal to operator. More...
  @@ -107,7 +110,7 @@  Not equal to operator. More...
  bool isDefined () const - Check if rotation vector is defined. More...
+ Check if Rotation Vector is defined. More...
  Vector3d getAxis () const  Get rotation axis. More...
@@ -116,32 +119,38 @@  Get rotation angle. More...
  String toString (const Integer &aPrecision=Integer::Undefined()) const - Convert rotation vector to its string representation. More...
+ Convert Rotation Vector to string representation. More...
  +RotationVector & rectify () + Rectify Rotation Vector (enforce positive angle) More...
+  - + - + - + - + - + - + - + + + +

Static Public Member Functions

static RotationVector Undefined ()
 Constructs an undefined rotation vector. More...
 Construct an undefined Rotation Vector. More...
 
static RotationVector Unit ()
 Constructs a unit rotation vector. More...
 Construct a unitary Rotation Vector. More...
 
static RotationVector X (const Angle &anAngle)
 Constructs a rotation vector around X-axis. More...
 Construct Rotation Vector around X-axis. More...
 
static RotationVector Y (const Angle &anAngle)
 Constructs a rotation vector around Y-axis. More...
 Construct Rotation Vector around Y-axis. More...
 
static RotationVector Z (const Angle &anAngle)
 Constructs a rotation vector around Z-axis. More...
 Construct Rotation Vector around Z-axis. More...
 
static RotationVector Quaternion (const rotation::Quaternion &aQuaternion)
 Constructs a rotation vector from a quaternion. More...
 Construct Rotation Vector from Quaternion. More...
 
static RotationVector RotationMatrix (const rotation::RotationMatrix &aRotationMatrix)
 Constructs a rotation vector from a rotation matrix. More...
 Construct Rotation Vector from Rotation Matrix. More...
 
static RotationVector EulerAngle (const rotation::EulerAngle &aEulerAngle)
 Construct Rotation Vector from Euler Angle. More...
 
@@ -150,11 +159,11 @@

Friends

 

Detailed Description

-

Rotation vector.

+

Rotation Vector.

–angle_representation#Rotation_vector

Constructor & Destructor Documentation

-

◆ RotationVector()

+

◆ RotationVector() [1/2]

@@ -180,7 +189,8 @@

Constructor.

-
Parameters
+
RotationVector({1.0, 0.0, 0.0}, Angle::Degrees(45.0));
+
Parameters
@@ -188,9 +198,83 @@

+

◆ RotationVector() [2/2]

+ +
+
+

[in]anAxisA rotation axis
[in]anAngleA rotation angle
+ + + + + + + + + + + + + + + + + +
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::RotationVector (const Vector3d & anAxis,
const Angle::Unit & anAngleUnit 
)
+

+ +

Construct Rotation Vector from vector and angle unit The norm of the vector defines the rotation angle.

+
RotationVector({1.0, 0.0, 0.0}, Angle::Unit::Radian);
+
Parameters
+ + + +
[in]aVectorA vector
[in]anAngleUnitAn angle unit
+
+
+

Member Function Documentation

+ +

◆ EulerAngle()

+ +
+
+ + + + + +
+ + + + + + + + +
RotationVector ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::EulerAngle (const rotation::EulerAngle & aEulerAngle)
+ 		+static
+
+ +

Construct Rotation Vector from Euler Angle.

+
RotationVector::EulerAngle(EulerAngle::Unit());
+
Parameters
+ + +
[in]aEulerAngleA Euler Angle
+
+
+
Returns
Rotation Vector
+ +
+

◆ getAngle()

@@ -207,7 +291,8 @@

Get rotation angle.

-
Returns
Rotation angle
+
RotationVector::Unit().getAngle();
+
Returns
Rotation angle

@@ -227,7 +312,8 @@

Get rotation axis.

-
Returns
Rotation axis
+
RotationVector::Unit().getAxis();
+
Returns
Rotation axis

@@ -246,9 +332,9 @@

-

Check if rotation vector is defined.

-
RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)).isDefined() ; // True
-
Returns
True if rotation vector is defined
+

Check if Rotation Vector is defined.

+
RotationVector::Unit().isDefined();
+
Returns
True if Rotation Vector is defined
@@ -269,15 +355,14 @@

Not equal to operator.

-
RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)) !=
-
RotationVector(Vector3d(1.0, 0.0, 0.0), Angle::Degrees(90.0)) ; // True
+
RotationVector::Unit() != RotationVector::Unit();
Parameters
- +
[in]aRotationVectorA rotation vector
[in]aRotationVectorA Rotation Vector
-
Returns
True if rotation vectors are not equal
+
Returns
True if Rotation Vectors are not equal
@@ -298,15 +383,14 @@

Equal to operator.

-
RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)) ==
-
RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)) ; // True
+
RotationVector::Unit() == RotationVector::Unit();
Parameters
- +
[in]aRotationVectorA rotation vector
[in]aRotationVectorA Rotation Vector
-
Returns
True if rotation vectors are equal
+
Returns
True if Rotation Vectors are equal
@@ -334,16 +418,36 @@

-

Constructs a rotation vector from a quaternion.

-
RotationVector rotationVector = RotationVector::Quaternion(Quaternion::XYZS(0.0, 0.0,
-
0.0, 1.0)) ;
+

Construct Rotation Vector from Quaternion.

+
RotationVector::Quaternion(Quaternion::Unit());
Parameters
[in]aQuaternionA quaternion
-
Returns
Rotation vector
+
Returns
Rotation Vector
+ +
+ + +

◆ rectify()

+ +
+
+ + + + + + + +
RotationVector & ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::rectify ()
+
+ +

Rectify Rotation Vector (enforce positive angle)

+
RotationVector::Unit().rectify();
+
Returns
Rotation Vector reference
@@ -371,15 +475,15 @@

-

Constructs a rotation vector from a rotation matrix.

-
RotationVector rotationVector = RotationVector::RotationMatrix(RotationMatrix::Unit()) ;
+

Construct Rotation Vector from Rotation Matrix.

+
RotationVector::RotationMatrix(RotationMatrix::Unit());
Parameters
- +
[in]aRotationMatrixA rotation matrix
[in]aRotationMatrixA Rotation Matrix
-
Returns
Rotation vector
+
Returns
Rotation Vector
@@ -399,9 +503,8 @@

-

Convert rotation vector to its string representation.

-
RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)).toString() ; // "[0.0,
-
0.0, 1.0] : 90.0 [deg]"
+

Convert Rotation Vector to string representation.

+
RotationVector::Unit().toString();
Parameters
@@ -435,9 +538,9 @@

-

Constructs an undefined rotation vector.

-
RotationVector rotationVector = RotationVector::Undefined() ; // Undefined
-
Returns
Undefined rotation vector
+

Construct an undefined Rotation Vector.

+
RotationVector::Undefined();
+
Returns
Undefined Rotation Vector
@@ -464,9 +567,9 @@

-

Constructs a unit rotation vector.

-
RotationVector rotationVector = RotationVector::Unit() ;
-
Returns
Unit rotation vector
+

Construct a unitary Rotation Vector.

+
RotationVector::Unit();
+
Returns
Unitary Rotation Vector
@@ -494,15 +597,15 @@

-

Constructs a rotation vector around X-axis.

-
RotationVector rotationVector = RotationVector::X(Angle::Degrees(45.0)) ;
+

Construct Rotation Vector around X-axis.

+
RotationVector::X(Angle::Degrees(45.0));
Parameters

[in](optional)aPrecision A precision
[in]anAngleA rotation angle
-
Returns
Rotation vector
+
Returns
Rotation Vector
@@ -530,15 +633,15 @@

-

Constructs a rotation vector around Y-axis.

-
RotationVector rotationVector = RotationVector::X(Angle::Degrees(45.0)) ;
+

Construct Rotation Vector around Y-axis.

+
RotationVector::X(Angle::Degrees(45.0));
Parameters
[in]anAngleA rotation angle
-
Returns
Rotation vector
+
Returns
Rotation Vector
@@ -566,15 +669,15 @@

-

Constructs a rotation vector around Z-axis.

-
RotationVector rotationVector = RotationVector::X(Angle::Degrees(45.0)) ;
+

Construct Rotation Vector around Z-axis.

+
RotationVector::X(Angle::Degrees(45.0));
Parameters
[in]anAngleA rotation angle
-
Returns
Rotation vector
+
Returns
Rotation Vector
@@ -614,15 +717,15 @@

Output stream operator.

-
std::cout << RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)) ;
+
std::cout << RotationVector::Unit();
Parameters
- +
[in]anOutputStreamAn output stream
[in]aRotationVectorA rotation vector
[in]aRotationVectorA Rotation Vector
-
Returns
A reference to output stream
+
Returns
Reference to output stream
@@ -632,16 +735,23 @@

ostk::mathematics::geometry::Angle::Degrees
static Angle Degrees(const Real &aValue)
Definition: Angle.cpp:433
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Unit
static RotationVector Unit()
Constructs a unit rotation vector.
Definition: RotationVector.cpp:110
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Undefined
static RotationVector Undefined()
Constructs an undefined rotation vector.
Definition: RotationVector.cpp:105
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Quaternion
static RotationVector Quaternion(const rotation::Quaternion &aQuaternion)
Constructs a rotation vector from a quaternion.
Definition: RotationVector.cpp:145
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Unit
static RotationMatrix Unit()
Constructs a unit rotation matrix.
Definition: RotationMatrix.cpp:288
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::X
static RotationVector X(const Angle &anAngle)
Constructs a rotation vector around X-axis.
Definition: RotationVector.cpp:115
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::RotationVector
RotationVector(const Vector3d &anAxis, const Angle &anAngle)
Constructor.
Definition: RotationVector.cpp:23
-
ostk::mathematics::object::Vector3d
Eigen::Vector3d Vector3d
Definition: Vector.hpp:38
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::XYZS
static Quaternion XYZS(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)
Constructs a quaternion using the vector-scalar format.
Definition: Quaternion.cpp:492
-
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::RotationMatrix
static RotationVector RotationMatrix(const rotation::RotationMatrix &aRotationMatrix)
Constructs a rotation vector from a rotation matrix.
Definition: RotationVector.cpp:168
+
ostk::mathematics::geometry::Angle::Degrees
static Angle Degrees(const Real &aValue)
Definition: Angle.cpp:464
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Unit
static EulerAngle Unit()
Construct unitary Euler Angle.
Definition: EulerAngle.cpp:186
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::getAxis
Vector3d getAxis() const
Get rotation axis.
Definition: RotationVector.cpp:84
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::EulerAngle
static RotationVector EulerAngle(const rotation::EulerAngle &aEulerAngle)
Construct Rotation Vector from Euler Angle.
Definition: RotationVector.cpp:225
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Unit
static RotationVector Unit()
Construct a unitary Rotation Vector.
Definition: RotationVector.cpp:143
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Undefined
static RotationVector Undefined()
Construct an undefined Rotation Vector.
Definition: RotationVector.cpp:138
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Quaternion
static RotationVector Quaternion(const rotation::Quaternion &aQuaternion)
Construct Rotation Vector from Quaternion.
Definition: RotationVector.cpp:178
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix::Unit
static RotationMatrix Unit()
Construct unitary Rotation Matrix.
Definition: RotationMatrix.cpp:290
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::isDefined
bool isDefined() const
Check if Rotation Vector is defined.
Definition: RotationVector.cpp:79
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::X
static RotationVector X(const Angle &anAngle)
Construct Rotation Vector around X-axis.
Definition: RotationVector.cpp:148
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::RotationVector
RotationVector(const Vector3d &anAxis, const Angle &anAngle)
Constructor.
Definition: RotationVector.cpp:24
+ +
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::RotationMatrix
static RotationVector RotationMatrix(const rotation::RotationMatrix &aRotationMatrix)
Construct Rotation Vector from Rotation Matrix.
Definition: RotationVector.cpp:201
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::rectify
RotationVector & rectify()
Rectify Rotation Vector (enforce positive angle)
Definition: RotationVector.cpp:104
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::Unit
static Quaternion Unit()
Construct unitary Quaternion.
Definition: Quaternion.cpp:488
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::toString
String toString(const Integer &aPrecision=Integer::Undefined()) const
Convert Rotation Vector to string representation.
Definition: RotationVector.cpp:126
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::getAngle
Angle getAngle() const
Get rotation angle.
Definition: RotationVector.cpp:94
diff --git a/html/dir_1db2ca725bce6a597a50db1f9271e018.html b/html/dir_1db2ca725bce6a597a50db1f9271e018.html index f6f6cec7..add1db81 100644 --- a/html/dir_1db2ca725bce6a597a50db1f9271e018.html +++ b/html/dir_1db2ca725bce6a597a50db1f9271e018.html @@ -87,6 +87,8 @@ + + diff --git a/html/dir_1db2ca725bce6a597a50db1f9271e018.js b/html/dir_1db2ca725bce6a597a50db1f9271e018.js index e75a3bdb..795bd73c 100644 --- a/html/dir_1db2ca725bce6a597a50db1f9271e018.js +++ b/html/dir_1db2ca725bce6a597a50db1f9271e018.js @@ -1,5 +1,6 @@ var dir_1db2ca725bce6a597a50db1f9271e018 = [ + [ "EulerAngle.cpp", "_euler_angle_8cpp.html", "_euler_angle_8cpp" ], [ "Quaternion.cpp", "_quaternion_8cpp.html", "_quaternion_8cpp" ], [ "RotationMatrix.cpp", "_rotation_matrix_8cpp.html", "_rotation_matrix_8cpp" ], [ "RotationVector.cpp", "_rotation_vector_8cpp.html", "_rotation_vector_8cpp" ] diff --git a/html/dir_c48729c886b2b7edc80a06810b6badd5.js b/html/dir_c48729c886b2b7edc80a06810b6badd5.js index 2f790b31..e7fc6cee 100644 --- a/html/dir_c48729c886b2b7edc80a06810b6badd5.js +++ b/html/dir_c48729c886b2b7edc80a06810b6badd5.js @@ -1,6 +1,8 @@ var dir_c48729c886b2b7edc80a06810b6badd5 = [ - [ "EulerAngle.hpp", "_euler_angle_8hpp.html", null ], + [ "EulerAngle.hpp", "_euler_angle_8hpp.html", [ + [ "EulerAngle", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle" ] + ] ], [ "Quaternion.hpp", "_quaternion_8hpp.html", [ [ "Quaternion", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion.html", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion" ] ] ], diff --git a/html/files.html b/html/files.html index 6485bb59..9a85ccb9 100644 --- a/html/files.html +++ b/html/files.html @@ -186,9 +186,10 @@ - - - + + + + diff --git a/html/functions.html b/html/functions.html index b6033603..cf97e4d4 100644 --- a/html/functions.html +++ b/html/functions.html @@ -171,6 +171,9 @@

- a -

diff --git a/html/functions_e.html b/html/functions_e.html index fe5467a1..88dc23c2 100644 --- a/html/functions_e.html +++ b/html/functions_e.html @@ -112,10 +112,16 @@

- e -

Files

file  EulerAngle.cpp
 
file  Quaternion.cpp
 
file  RotationMatrix.cpp
 ► Transformation
 Intersection.cpp
 Object.cpp
 Transformation.cpp
 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 Costk::mathematics::geometry::AngleAngle
 Costk::mathematics::geometry::d2::object::PointSet::HasherPoint hasher
 Costk::mathematics::geometry::d3::object::PointSet::HasherPoint hasher
 ▼Costk::mathematics::curvefitting::InterpolatorInterpolator (abstract class)
 Costk::mathematics::curvefitting::interpolator::BarycentricRationalBarycentricRational
 Costk::mathematics::curvefitting::interpolator::CubicSplineCubicSpline
 Costk::mathematics::curvefitting::interpolator::LinearLinear
 Costk::mathematics::geometry::d2::Intersection2D intersection
 Costk::mathematics::geometry::d3::Intersection3D intersection
 ▼Costk::mathematics::object::IntervalBaseInterval base (used to avoid having a templated enum)
 Costk::mathematics::object::Interval< T >Set of numbers with the property that any number that lies between two numbers in the set is also included in the set
 Costk::mathematics::solver::NumericalSolverDefines a numerical ODE solver that use the Boost Odeint libraries. This class will be moved into OSTk-math in the future
 ▼Costk::mathematics::geometry::d2::Object2D object
 Costk::mathematics::geometry::d2::object::CompositeComposite object
 Costk::mathematics::geometry::d2::object::LineLine
 Costk::mathematics::geometry::d2::object::LineStringLine string
 Costk::mathematics::geometry::d2::object::MultiLineStringMulti Line string
 Costk::mathematics::geometry::d2::object::MultiPolygonMulti-polygon
 Costk::mathematics::geometry::d2::object::PointPoint
 Costk::mathematics::geometry::d2::object::PointSetPoint set
 Costk::mathematics::geometry::d2::object::PolygonPolygon
 Costk::mathematics::geometry::d2::object::SegmentSegment
 ▼Costk::mathematics::geometry::d3::Object3D object
 Costk::mathematics::geometry::d3::object::CompositeComposite object
 Costk::mathematics::geometry::d3::object::ConeCone
 Costk::mathematics::geometry::d3::object::CuboidCuboid
 Costk::mathematics::geometry::d3::object::EllipsoidEllipsoid
 Costk::mathematics::geometry::d3::object::LineLine
 Costk::mathematics::geometry::d3::object::LineStringLine string
 Costk::mathematics::geometry::d3::object::PlanePlane
 Costk::mathematics::geometry::d3::object::PointPoint
 Costk::mathematics::geometry::d3::object::PointSetPoint set
 Costk::mathematics::geometry::d3::object::PolygonPolygon
 Costk::mathematics::geometry::d3::object::PyramidPyramid
 Costk::mathematics::geometry::d3::object::RayRay
 Costk::mathematics::geometry::d3::object::SegmentSegment
 Costk::mathematics::geometry::d3::object::SphereSphere
 Costk::mathematics::geometry::d3::transformation::rotation::QuaternionQuaternion
 Costk::mathematics::geometry::d3::transformation::rotation::RotationMatrixRotation matrix
 Costk::mathematics::geometry::d3::transformation::rotation::RotationVectorRotation vector
 Costk::mathematics::geometry::d3::Transformation
 Costk::mathematics::geometry::d2::Transformation
 Costk::mathematics::geometry::d3::transformation::rotation::EulerAngleEuler Angle (intrinsic rotation)
 Costk::mathematics::geometry::d2::object::PointSet::HasherPoint hasher
 Costk::mathematics::geometry::d3::object::PointSet::HasherPoint hasher
 ▼Costk::mathematics::curvefitting::InterpolatorInterpolator (abstract class)
 Costk::mathematics::curvefitting::interpolator::BarycentricRationalBarycentricRational
 Costk::mathematics::curvefitting::interpolator::CubicSplineCubicSpline
 Costk::mathematics::curvefitting::interpolator::LinearLinear
 Costk::mathematics::geometry::d2::Intersection2D intersection
 Costk::mathematics::geometry::d3::Intersection3D intersection
 ▼Costk::mathematics::object::IntervalBaseInterval base (used to avoid having a templated enum)
 Costk::mathematics::object::Interval< T >Set of numbers with the property that any number that lies between two numbers in the set is also included in the set
 Costk::mathematics::solver::NumericalSolverDefines a numerical ODE solver that use the Boost Odeint libraries. This class will be moved into OSTk-math in the future
 ▼Costk::mathematics::geometry::d2::Object2D object
 Costk::mathematics::geometry::d2::object::CompositeComposite object
 Costk::mathematics::geometry::d2::object::LineLine
 Costk::mathematics::geometry::d2::object::LineStringLine string
 Costk::mathematics::geometry::d2::object::MultiLineStringMulti Line string
 Costk::mathematics::geometry::d2::object::MultiPolygonMulti-polygon
 Costk::mathematics::geometry::d2::object::PointPoint
 Costk::mathematics::geometry::d2::object::PointSetPoint set
 Costk::mathematics::geometry::d2::object::PolygonPolygon
 Costk::mathematics::geometry::d2::object::SegmentSegment
 ▼Costk::mathematics::geometry::d3::Object3D object
 Costk::mathematics::geometry::d3::object::CompositeComposite object
 Costk::mathematics::geometry::d3::object::ConeCone
 Costk::mathematics::geometry::d3::object::CuboidCuboid
 Costk::mathematics::geometry::d3::object::EllipsoidEllipsoid
 Costk::mathematics::geometry::d3::object::LineLine
 Costk::mathematics::geometry::d3::object::LineStringLine string
 Costk::mathematics::geometry::d3::object::PlanePlane
 Costk::mathematics::geometry::d3::object::PointPoint
 Costk::mathematics::geometry::d3::object::PointSetPoint set
 Costk::mathematics::geometry::d3::object::PolygonPolygon
 Costk::mathematics::geometry::d3::object::PyramidPyramid
 Costk::mathematics::geometry::d3::object::RayRay
 Costk::mathematics::geometry::d3::object::SegmentSegment
 Costk::mathematics::geometry::d3::object::SphereSphere
 Costk::mathematics::geometry::d3::transformation::rotation::QuaternionQuaternion
 Costk::mathematics::geometry::d3::transformation::rotation::RotationMatrixRotation matrix
 Costk::mathematics::geometry::d3::transformation::rotation::RotationVectorRotation Vector
 Costk::mathematics::geometry::d3::Transformation
 Costk::mathematics::geometry::d2::Transformation
diff --git a/html/hierarchy.js b/html/hierarchy.js index 00dbd156..3b678f87 100644 --- a/html/hierarchy.js +++ b/html/hierarchy.js @@ -1,6 +1,7 @@ var hierarchy = [ [ "ostk::mathematics::geometry::Angle", "classostk_1_1mathematics_1_1geometry_1_1_angle.html", null ], + [ "ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle", "classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.html", null ], [ "ostk::mathematics::geometry::d2::object::PointSet::Hasher", "structostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point_set_1_1_hasher.html", null ], [ "ostk::mathematics::geometry::d3::object::PointSet::Hasher", "structostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point_set_1_1_hasher.html", null ], [ "ostk::mathematics::curvefitting::Interpolator", "classostk_1_1mathematics_1_1curvefitting_1_1_interpolator.html", [ diff --git a/html/index.html b/html/index.html index 1e531d6a..7ea004f8 100644 --- a/html/index.html +++ b/html/index.html @@ -358,7 +358,7 @@

ostk::mathematics::geometry
Definition: Intersection.hpp:25
- + + + +

◆ operator<<() [1/4]

+ +
+
+ + + + + + + + + + + + + + + + + + +
std::ostream& ostk::mathematics::geometry::d3::transformation::rotation::operator<< (std::ostream & anOutputStream,
const EulerAngle & aEulerAngle 
)
+
+
std::cout << EulerAngle::Unit();
+
Parameters
+ + + +
[in]anOutputStreamAn output stream
[in]aEulerAngleA Euler Angle
+
+
+
Returns
Output stream reference
+
-

◆ operator<<() [1/3]

+

◆ operator<<() [2/4]

@@ -176,20 +218,20 @@

-
std::cout << Quaternion::XYZS(0.0, 0.0, 0.0, 1.0) ;
+
std::cout << Quaternion::XYZS(0.0, 0.0, 0.0, 1.0);
Parameters
- +
[in]anOutputStreamAn output stream
[in]aQuaternionA quaternion
[in]aQuaternionA Quaternion
-
Returns
A reference to output stream
+
Returns
Output stream reference

-

◆ operator<<() [2/3]

+

◆ operator<<() [3/4]

@@ -213,20 +255,20 @@

-
std::cout << RotationMatrix(...) ;
+
std::cout << RotationMatrix(...);
Parameters
- +
[in]anOutputStreamAn output stream
[in]aRotationMatrixA rotation matrix
[in]aRotationMatrixA Rotation Matrix
-
Returns
A reference to output stream
+
Returns
Output stream reference

-

◆ operator<<() [3/3]

+

◆ operator<<() [4/4]

@@ -250,23 +292,23 @@

-
std::cout << RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)) ;
+
std::cout << RotationVector::Unit();
Parameters
- +
[in]anOutputStreamAn output stream
[in]aRotationVectorA rotation vector
[in]aRotationVectorA Rotation Vector
-
Returns
A reference to output stream
+
Returns
Reference to output stream

-
ostk::mathematics::geometry::Angle::Degrees
static Angle Degrees(const Real &aValue)
Definition: Angle.cpp:433
-
ostk::mathematics::object::Vector3d
Eigen::Vector3d Vector3d
Definition: Vector.hpp:38
-
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::XYZS
static Quaternion XYZS(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)
Constructs a quaternion using the vector-scalar format.
Definition: Quaternion.cpp:492
+
ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle::Unit
static EulerAngle Unit()
Construct unitary Euler Angle.
Definition: EulerAngle.cpp:186
+
ostk::mathematics::geometry::d3::transformation::rotation::RotationVector::Unit
static RotationVector Unit()
Construct a unitary Rotation Vector.
Definition: RotationVector.cpp:143
+
ostk::mathematics::geometry::d3::transformation::rotation::Quaternion::XYZS
static Quaternion XYZS(const Real &aFirstComponent, const Real &aSecondComponent, const Real &aThirdComponent, const Real &aFourthComponent)
Construct Quaternion using the vector-scalar format.
Definition: Quaternion.cpp:493
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--git a/html/search/variables_4.js b/html/search/variables_4.js index 2833f3f2..3f060f04 100644 --- a/html/search/variables_4.js +++ b/html/search/variables_4.js @@ -1,4 +1,4 @@ var searchData= [ - ['timestep_5f_745',['timeStep_',['../classostk_1_1mathematics_1_1solver_1_1_numerical_solver.html#a5f05521e24c29047c899ddffa410b614',1,'ostk::mathematics::solver::NumericalSolver']]] + ['timestep_5f_777',['timeStep_',['../classostk_1_1mathematics_1_1solver_1_1_numerical_solver.html#a5f05521e24c29047c899ddffa410b614',1,'ostk::mathematics::solver::NumericalSolver']]] ]; diff --git a/latex/_euler_angle_8cpp.tex b/latex/_euler_angle_8cpp.tex new file mode 100644 index 00000000..763c04e7 --- /dev/null +++ b/latex/_euler_angle_8cpp.tex @@ -0,0 +1,28 @@ +\hypertarget{_euler_angle_8cpp}{}\doxysection{src/\+Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Euler\+Angle.cpp File Reference} +\label{_euler_angle_8cpp}\index{src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.cpp@{src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.cpp}} +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Core/\+Error.\+hpp$>$}\newline +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Core/\+Utility.\+hpp$>$}\newline +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Euler\+Angle.\+hpp$>$}\newline +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Quaternion.\+hpp$>$}\newline +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Rotation\+Matrix.\+hpp$>$}\newline +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Rotation\+Vector.\+hpp$>$}\newline +\doxysubsection*{Namespaces} +\begin{DoxyCompactItemize} +\item + \mbox{\hyperlink{namespaceostk}{ostk}} +\begin{DoxyCompactList}\small\item\em Apache License 2.\+0. \end{DoxyCompactList}\item + \mbox{\hyperlink{namespaceostk_1_1mathematics}{ostk\+::mathematics}} +\item + \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1geometry}{ostk\+::mathematics\+::geometry}} +\item + \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1geometry_1_1d3}{ostk\+::mathematics\+::geometry\+::d3}} +\item + \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation}{ostk\+::mathematics\+::geometry\+::d3\+::transformation}} +\item + \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation}{ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation}} +\end{DoxyCompactItemize} +\doxysubsection*{Functions} +\begin{DoxyCompactItemize} +\item +std\+::ostream \& \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_a4039583c5e12d44db90af36b8420cffd}{ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::operator$<$$<$}} (std\+::ostream \&an\+Output\+Stream, const Euler\+Angle \&a\+Euler\+Angle) +\end{DoxyCompactItemize} diff --git a/latex/_euler_angle_8hpp.tex b/latex/_euler_angle_8hpp.tex index f2f21fb1..da3d3e66 100644 --- a/latex/_euler_angle_8hpp.tex +++ b/latex/_euler_angle_8hpp.tex @@ -1,5 +1,15 @@ \hypertarget{_euler_angle_8hpp}{}\doxysection{include/\+Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Euler\+Angle.hpp File Reference} \label{_euler_angle_8hpp}\index{include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.hpp@{include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.hpp}} +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Core/\+Type/\+Integer.\+hpp$>$}\newline +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Core/\+Type/\+Real.\+hpp$>$}\newline +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Core/\+Type/\+String.\+hpp$>$}\newline +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/\+Angle.\+hpp$>$}\newline +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Object/\+Vector.\+hpp$>$}\newline +\doxysubsection*{Classes} +\begin{DoxyCompactItemize} +\item +class \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle}} +\begin{DoxyCompactList}\small\item\em Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} (intrinsic rotation) \end{DoxyCompactList}\end{DoxyCompactItemize} \doxysubsection*{Namespaces} \begin{DoxyCompactItemize} \item diff --git a/latex/_quaternion_8cpp.tex b/latex/_quaternion_8cpp.tex index 4fe8a1bc..5f3f4ebf 100644 --- a/latex/_quaternion_8cpp.tex +++ b/latex/_quaternion_8cpp.tex @@ -2,6 +2,7 @@ \label{_quaternion_8cpp}\index{src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/Quaternion.cpp@{src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/Quaternion.cpp}} {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Core/\+Error.\+hpp$>$}\newline {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Core/\+Utility.\+hpp$>$}\newline +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Euler\+Angle.\+hpp$>$}\newline {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Quaternion.\+hpp$>$}\newline {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Rotation\+Matrix.\+hpp$>$}\newline {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Rotation\+Vector.\+hpp$>$}\newline diff --git a/latex/_rotation_matrix_8cpp.tex b/latex/_rotation_matrix_8cpp.tex index b02103b5..955ab3d6 100644 --- a/latex/_rotation_matrix_8cpp.tex +++ b/latex/_rotation_matrix_8cpp.tex @@ -2,6 +2,7 @@ \label{_rotation_matrix_8cpp}\index{src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp@{src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp}} {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Core/\+Error.\+hpp$>$}\newline {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Core/\+Utility.\+hpp$>$}\newline +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Euler\+Angle.\+hpp$>$}\newline {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Quaternion.\+hpp$>$}\newline {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Rotation\+Matrix.\+hpp$>$}\newline {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Rotation\+Vector.\+hpp$>$}\newline diff --git a/latex/_rotation_vector_8cpp.tex b/latex/_rotation_vector_8cpp.tex index 02571268..54b47221 100644 --- a/latex/_rotation_vector_8cpp.tex +++ b/latex/_rotation_vector_8cpp.tex @@ -2,6 +2,7 @@ \label{_rotation_vector_8cpp}\index{src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationVector.cpp@{src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationVector.cpp}} {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Core/\+Error.\+hpp$>$}\newline {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Core/\+Utility.\+hpp$>$}\newline +{\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Euler\+Angle.\+hpp$>$}\newline {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Quaternion.\+hpp$>$}\newline {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Rotation\+Matrix.\+hpp$>$}\newline {\ttfamily \#include $<$Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\+Rotation\+Vector.\+hpp$>$}\newline diff --git a/latex/_rotation_vector_8hpp.tex b/latex/_rotation_vector_8hpp.tex index 204e784b..bb1e5148 100644 --- a/latex/_rotation_vector_8hpp.tex +++ b/latex/_rotation_vector_8hpp.tex @@ -8,7 +8,7 @@ \begin{DoxyCompactItemize} \item class \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Rotation\+Vector}} -\begin{DoxyCompactList}\small\item\em Rotation vector. \end{DoxyCompactList}\end{DoxyCompactItemize} +\begin{DoxyCompactList}\small\item\em Rotation Vector. \end{DoxyCompactList}\end{DoxyCompactItemize} \doxysubsection*{Namespaces} \begin{DoxyCompactItemize} \item diff --git a/latex/annotated.tex b/latex/annotated.tex index 212a22c5..9a305189 100644 --- a/latex/annotated.tex +++ b/latex/annotated.tex @@ -8,6 +8,7 @@ \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1curvefitting_1_1interpolator_1_1_cubic_spline}{ostk\+::mathematics\+::curvefitting\+::interpolator\+::\+Cubic\+Spline}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1curvefitting_1_1interpolator_1_1_cubic_spline}{Cubic\+Spline}} }{\pageref{classostk_1_1mathematics_1_1curvefitting_1_1interpolator_1_1_cubic_spline}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_cuboid}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::\+Cuboid}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_cuboid}{Cuboid}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_cuboid}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_ellipsoid}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::\+Ellipsoid}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_ellipsoid}{Ellipsoid}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_ellipsoid}}{} +\item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle}} \\*Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} (intrinsic rotation) }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}}{} \item\contentsline{section}{\mbox{\hyperlink{structostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point_set_1_1_hasher}{ostk\+::mathematics\+::geometry\+::d2\+::object\+::\+Point\+Set\+::\+Hasher}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point}{Point}} hasher }{\pageref{structostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point_set_1_1_hasher}}{} \item\contentsline{section}{\mbox{\hyperlink{structostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point_set_1_1_hasher}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::\+Point\+Set\+::\+Hasher}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point}{Point}} hasher }{\pageref{structostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point_set_1_1_hasher}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1curvefitting_1_1_interpolator}{ostk\+::mathematics\+::curvefitting\+::\+Interpolator}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1curvefitting_1_1_interpolator}{Interpolator}} (abstract class) }{\pageref{classostk_1_1mathematics_1_1curvefitting_1_1_interpolator}}{} @@ -28,17 +29,17 @@ \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_plane}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::\+Plane}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_plane}{Plane}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_plane}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point}{ostk\+::mathematics\+::geometry\+::d2\+::object\+::\+Point}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point}{Point}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::\+Point}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point}{Point}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point}}{} -\item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point_set}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::\+Point\+Set}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point}{Point}} set }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point_set}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point_set}{ostk\+::mathematics\+::geometry\+::d2\+::object\+::\+Point\+Set}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point}{Point}} set }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point_set}}{} +\item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point_set}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::\+Point\+Set}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point}{Point}} set }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point_set}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_polygon}{ostk\+::mathematics\+::geometry\+::d2\+::object\+::\+Polygon}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_polygon}{Polygon}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_polygon}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_polygon}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::\+Polygon}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_polygon}{Polygon}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_polygon}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_pyramid}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::\+Pyramid}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_pyramid}{Pyramid}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_pyramid}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Quaternion}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_ray}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::\+Ray}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_ray}{Ray}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_ray}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Rotation\+Matrix}} \\*Rotation matrix }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}}{} -\item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Rotation\+Vector}} \\*Rotation vector }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}}{} -\item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_segment}{ostk\+::mathematics\+::geometry\+::d2\+::object\+::\+Segment}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_segment}{Segment}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_segment}}{} +\item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Rotation\+Vector}} \\*Rotation Vector }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_segment}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::\+Segment}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_segment}{Segment}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_segment}}{} +\item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_segment}{ostk\+::mathematics\+::geometry\+::d2\+::object\+::\+Segment}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_segment}{Segment}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_segment}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_sphere}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::\+Sphere}} \\*\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_sphere}{Sphere}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_sphere}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1_transformation}{ostk\+::mathematics\+::geometry\+::d3\+::\+Transformation}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1_transformation}}{} \item\contentsline{section}{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d2_1_1_transformation}{ostk\+::mathematics\+::geometry\+::d2\+::\+Transformation}} }{\pageref{classostk_1_1mathematics_1_1geometry_1_1d2_1_1_transformation}}{} diff --git a/latex/classostk_1_1mathematics_1_1geometry_1_1_angle.tex b/latex/classostk_1_1mathematics_1_1geometry_1_1_angle.tex index a3ab30f7..3a34d11e 100644 --- a/latex/classostk_1_1mathematics_1_1geometry_1_1_angle.tex +++ b/latex/classostk_1_1mathematics_1_1geometry_1_1_angle.tex @@ -55,6 +55,10 @@ \item bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a17449f940c75bc182a9eaa069ae59342}{is\+Zero}} () const \item +bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a80267bbfcf53ac84f70e8c64c0ae4162}{is\+Negative}} () const +\begin{DoxyCompactList}\small\item\em Check if angle is negative. \end{DoxyCompactList}\item +bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a93759a5dc36449aaa68d749d270fa736}{is\+Near}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&an\+Angle, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+Tolerance) const +\begin{DoxyCompactList}\small\item\em Check if angles are near within an angular tolerance. \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371}{Angle\+::\+Unit}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_aaf5a6fca6315e78ec77c6b4bbc3dd5c9}{get\+Unit}} () const \item Real \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a5a4a660668c35df6cc2ad47e02727b7e}{in}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371}{Angle\+::\+Unit}} \&a\+Unit) const @@ -301,6 +305,54 @@ \doxysubsubsection{\texorpdfstring{isDefined()}{isDefined()}} {\footnotesize\ttfamily bool ostk\+::mathematics\+::geometry\+::\+Angle\+::is\+Defined (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1_angle_a93759a5dc36449aaa68d749d270fa736}\label{classostk_1_1mathematics_1_1geometry_1_1_angle_a93759a5dc36449aaa68d749d270fa736}} +\index{ostk::mathematics::geometry::Angle@{ostk::mathematics::geometry::Angle}!isNear@{isNear}} +\index{isNear@{isNear}!ostk::mathematics::geometry::Angle@{ostk::mathematics::geometry::Angle}} +\doxysubsubsection{\texorpdfstring{isNear()}{isNear()}} +{\footnotesize\ttfamily bool ostk\+::mathematics\+::geometry\+::\+Angle\+::is\+Near (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{an\+Angle, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+Tolerance }\end{DoxyParamCaption}) const} + + + +Check if angles are near within an angular tolerance. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a8e6ae32f87c8dd9dbb5b13f0403bb93b}{Angle::Zero}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a93759a5dc36449aaa68d749d270fa736}{isNear}}(} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(1.0),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(2.0)} +\DoxyCodeLine{);} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em an\+Angle} & An angle \\ +\hline +\mbox{\texttt{ in}} & {\em a\+Tolerance} & A tolerance \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +True if angles are near +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1_angle_a80267bbfcf53ac84f70e8c64c0ae4162}\label{classostk_1_1mathematics_1_1geometry_1_1_angle_a80267bbfcf53ac84f70e8c64c0ae4162}} +\index{ostk::mathematics::geometry::Angle@{ostk::mathematics::geometry::Angle}!isNegative@{isNegative}} +\index{isNegative@{isNegative}!ostk::mathematics::geometry::Angle@{ostk::mathematics::geometry::Angle}} +\doxysubsubsection{\texorpdfstring{isNegative()}{isNegative()}} +{\footnotesize\ttfamily bool ostk\+::mathematics\+::geometry\+::\+Angle\+::is\+Negative (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const} + + + +Check if angle is negative. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a8e6ae32f87c8dd9dbb5b13f0403bb93b}{Angle::Zero}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a80267bbfcf53ac84f70e8c64c0ae4162}{isNegative}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +True if angle is negative +\end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1_angle_a17449f940c75bc182a9eaa069ae59342}\label{classostk_1_1mathematics_1_1geometry_1_1_angle_a17449f940c75bc182a9eaa069ae59342}} \index{ostk::mathematics::geometry::Angle@{ostk::mathematics::geometry::Angle}!isZero@{isZero}} \index{isZero@{isZero}!ostk::mathematics::geometry::Angle@{ostk::mathematics::geometry::Angle}} diff --git a/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.tex b/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.tex new file mode 100644 index 00000000..436e37bc --- /dev/null +++ b/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle.tex @@ -0,0 +1,698 @@ +\hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{}\doxysection{ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::Euler\+Angle Class Reference} +\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} + + +Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} (intrinsic rotation) + + + + +{\ttfamily \#include $<$Euler\+Angle.\+hpp$>$} + +\doxysubsection*{Public Types} +\begin{DoxyCompactItemize} +\item +enum \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Axis\+Sequence}} \{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168caec0fc0100c4fc1ce4eea230c3dc10360}{Axis\+Sequence\+::\+Undefined}}, +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168cae65075d550f9b5bf9992fa1d71a131be}{Axis\+Sequence\+::\+X\+YZ}}, +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168ca07bb28478030fc8b86da84000c9860d3}{Axis\+Sequence\+::\+Z\+XY}}, +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168ca6811254e01b3550bdb2dc46f204730dc}{Axis\+Sequence\+::\+Z\+YX}} + \} +\end{DoxyCompactItemize} +\doxysubsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a7d88d303ded4e39e598cdf566796cc9e}{Euler\+Angle}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+First\+Angle, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+Second\+Angle, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+Third\+Angle, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} \&an\+Axis\+Sequence) +\begin{DoxyCompactList}\small\item\em Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from angles and axis sequence. \end{DoxyCompactList}\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_aef0ee3faab6cf338e6c3fef716160378}{Euler\+Angle}} (const Vector3d \&a\+Vector, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371}{Angle\+::\+Unit}} \&an\+Angle\+Unit, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} \&an\+Axis\+Sequence) +\begin{DoxyCompactList}\small\item\em Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from vector of angles and axis sequence. \end{DoxyCompactList}\item +bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a487434e408dd6301e624305f9708a1b2}{operator==}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \&a\+Euler\+Angle) const +\begin{DoxyCompactList}\small\item\em Equal to operator. \end{DoxyCompactList}\item +bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5adfa3b7def412a62f25fcb4d154f160}{operator!=}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \&a\+Euler\+Angle) const +\begin{DoxyCompactList}\small\item\em Not equal to operator. \end{DoxyCompactList}\item +bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5140298e4d18f9b63fe1791e2785938c}{is\+Defined}} () const +\begin{DoxyCompactList}\small\item\em Check if Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} is defined. \end{DoxyCompactList}\item +bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a75a6bd4f088b43ba2f9e7a9a1a963e64}{is\+Unitary}} () const +\begin{DoxyCompactList}\small\item\em Check if Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} is unitary. \end{DoxyCompactList}\item +bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ab25e5b93b6cff6716c08d5b9de4ab2c5}{is\+Near}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \&a\+Euler\+Angle, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&an\+Angular\+Tolerance) const +\begin{DoxyCompactList}\small\item\em Check if Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} is equal to another Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} within a given angular tolerance. \end{DoxyCompactList}\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a6a2ec66eea87c4645cc7815c82d09d0e}{get\+Phi}} () const +\begin{DoxyCompactList}\small\item\em Get first angle of rotation (phi) \end{DoxyCompactList}\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a13a35f51cad01171184a1feb3910b68b}{get\+Theta}} () const +\begin{DoxyCompactList}\small\item\em Get second angle of rotation (theta) \end{DoxyCompactList}\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a21bb162e148332ca5c36fe4ec1d9de58}{get\+Psi}} () const +\begin{DoxyCompactList}\small\item\em Get third angle of rotation (psi) \end{DoxyCompactList}\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Axis\+Sequence}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a959afa9de94bff84008813662da769e0}{get\+Axis\+Sequence}} () const +\begin{DoxyCompactList}\small\item\em Get axis sequence. \end{DoxyCompactList}\item +Vector3d \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a511d16a1d248592a98f6fd3345bd7547}{to\+Vector}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371}{Angle\+::\+Unit}} \&an\+Angle\+Unit) const +\begin{DoxyCompactList}\small\item\em Return vector containing the three angles. \end{DoxyCompactList}\item +String \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a6ef0461c00dd105f6c38fe5a2ee22c94}{to\+String}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371}{Angle\+::\+Unit}} \&an\+Angle\+Unit=\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371a6669c4dc00cb161446821b3529ca07d8}{Angle\+::\+Unit\+::\+Degree}}) const +\begin{DoxyCompactList}\small\item\em Return string form of Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \mbox{[}phi; theta; psi\mbox{]}. \end{DoxyCompactList}\end{DoxyCompactItemize} +\doxysubsection*{Static Public Member Functions} +\begin{DoxyCompactItemize} +\item +static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a65f9ff57748fe200180b4c7ffee03dd5}{Undefined}} () +\begin{DoxyCompactList}\small\item\em Construct undefined Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}}. \end{DoxyCompactList}\item +static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{Unit}} () +\begin{DoxyCompactList}\small\item\em Construct unitary Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}}. \end{DoxyCompactList}\item +static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ad67a6f747c305d3528a7d9639ce14bf4}{X\+YZ}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+First\+Angle, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+Second\+Angle, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+Third\+Angle) +\begin{DoxyCompactList}\small\item\em Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from angles following X\+YZ sequence. \end{DoxyCompactList}\item +static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5c480a99e25a582539a3d23bbc1cfaad}{Z\+XY}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+First\+Angle, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+Second\+Angle, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+Third\+Angle) +\begin{DoxyCompactList}\small\item\em Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from angles following Z\+XY sequence. \end{DoxyCompactList}\item +static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5a32a18b2e11e5cce47df3f651e22fe8}{Z\+YX}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+First\+Angle, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+Second\+Angle, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+Third\+Angle) +\begin{DoxyCompactList}\small\item\em Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from angles following Z\+YX sequence. \end{DoxyCompactList}\item +static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a046912d1e2a21205e51d070b186630f6}{Quaternion}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{rotation\+::\+Quaternion}} \&a\+Quaternion, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} \&an\+Axis\+Sequence) +\begin{DoxyCompactList}\small\item\em Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from Rotation Matrix. \end{DoxyCompactList}\item +static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac8579cff213d96389fcb8daa84d81063}{Rotation\+Vector}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{rotation\+::\+Rotation\+Vector}} \&a\+Rotation\+Vector, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} \&an\+Axis\+Sequence) +\begin{DoxyCompactList}\small\item\em Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item +static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ad52bbd103ee414308394cd4c9e9848c9}{Rotation\+Matrix}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{rotation\+::\+Rotation\+Matrix}} \&a\+Rotation\+Matrix, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} \&an\+Axis\+Sequence) +\begin{DoxyCompactList}\small\item\em Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from Rotation Vector. \end{DoxyCompactList}\item +static String \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_af8605f8fa6810bdf2043cdb8b4b2f2a2}{String\+From\+Axis\+Sequence}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} \&an\+Axis\+Sequence) +\begin{DoxyCompactList}\small\item\em Construct a string representation of an axis sequence. \end{DoxyCompactList}\end{DoxyCompactItemize} +\doxysubsection*{Friends} +\begin{DoxyCompactItemize} +\item +std\+::ostream \& \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a88d18669eb768c7f71a92df68c886202}{operator$<$$<$}} (std\+::ostream \&an\+Output\+Stream, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \&a\+Euler\+Angle) +\begin{DoxyCompactList}\small\item\em Output stream operator. \end{DoxyCompactList}\end{DoxyCompactItemize} + + +\doxysubsection{Detailed Description} +Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} (intrinsic rotation) + +\begin{DoxyVerb} Implementation from "Fundamentals of Spacecraft Attitude Determination and Control", + F. Landis Markley and John L. Crassidis, Springer +\end{DoxyVerb} + + +\href{https://en.wikipedia.org/wiki/Euler_angles}{\texttt{ https\+://en.\+wikipedia.\+org/wiki/\+Euler\+\_\+angles}} \href{https://en.wikipedia.org/wiki/Euler_angles\#Conventions_by_intrinsic_rotations}{\texttt{ https\+://en.\+wikipedia.\+org/wiki/\+Euler\+\_\+angles\#\+Conventions\+\_\+by\+\_\+intrinsic\+\_\+rotations}} + +\doxysubsection{Member Enumeration Documentation} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!AxisSequence@{AxisSequence}} +\index{AxisSequence@{AxisSequence}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{AxisSequence}{AxisSequence}} +{\footnotesize\ttfamily enum \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::\+Axis\+Sequence}}\hspace{0.3cm}{\ttfamily [strong]}} + +\begin{DoxyEnumFields}{Enumerator} +\raisebox{\heightof{T}}[0pt][0pt]{\index{Undefined@{Undefined}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}}\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!Undefined@{Undefined}}}\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168caec0fc0100c4fc1ce4eea230c3dc10360}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168caec0fc0100c4fc1ce4eea230c3dc10360}} +Undefined&Undefined sequence. \\ +\hline + +\raisebox{\heightof{T}}[0pt][0pt]{\index{XYZ@{XYZ}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}}\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!XYZ@{XYZ}}}\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168cae65075d550f9b5bf9992fa1d71a131be}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168cae65075d550f9b5bf9992fa1d71a131be}} +X\+YZ&X -\/$>$ Y -\/$>$ Z sequence. \\ +\hline + +\raisebox{\heightof{T}}[0pt][0pt]{\index{ZXY@{ZXY}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}}\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!ZXY@{ZXY}}}\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168ca07bb28478030fc8b86da84000c9860d3}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168ca07bb28478030fc8b86da84000c9860d3}} +Z\+XY&Z -\/$>$ X -\/$>$ Y sequence. \\ +\hline + +\raisebox{\heightof{T}}[0pt][0pt]{\index{ZYX@{ZYX}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}}\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!ZYX@{ZYX}}}\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168ca6811254e01b3550bdb2dc46f204730dc}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168ca6811254e01b3550bdb2dc46f204730dc}} +Z\+YX&Z -\/$>$ Y -\/$>$ X sequence. \\ +\hline + +\end{DoxyEnumFields} + + +\doxysubsection{Constructor \& Destructor Documentation} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a7d88d303ded4e39e598cdf566796cc9e}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a7d88d303ded4e39e598cdf566796cc9e}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!EulerAngle@{EulerAngle}} +\index{EulerAngle@{EulerAngle}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{EulerAngle()}{EulerAngle()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}} +{\footnotesize\ttfamily ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::\+Euler\+Angle (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+First\+Angle, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+Second\+Angle, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+Third\+Angle, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} \&}]{an\+Axis\+Sequence }\end{DoxyParamCaption})} + + + +Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from angles and axis sequence. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a7d88d303ded4e39e598cdf566796cc9e}{EulerAngle}}(} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(1.0),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(2.0),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(3.0),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168ca6811254e01b3550bdb2dc46f204730dc}{EulerAngle::AxisSequence::ZYX}}} +\DoxyCodeLine{);} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+First\+Angle} & A first angle (phi) \\ +\hline +\mbox{\texttt{ in}} & {\em a\+Second\+Angle} & A second angle (theta) \\ +\hline +\mbox{\texttt{ in}} & {\em a\+Third\+Angle} & A third angle (psi) \\ +\hline +\mbox{\texttt{ in}} & {\em an\+Axis\+Sequence} & An axis sequence \\ +\hline +\end{DoxyParams} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_aef0ee3faab6cf338e6c3fef716160378}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_aef0ee3faab6cf338e6c3fef716160378}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!EulerAngle@{EulerAngle}} +\index{EulerAngle@{EulerAngle}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{EulerAngle()}{EulerAngle()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}} +{\footnotesize\ttfamily ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::\+Euler\+Angle (\begin{DoxyParamCaption}\item[{const Vector3d \&}]{a\+Vector, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371}{Angle\+::\+Unit}} \&}]{an\+Angle\+Unit, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} \&}]{an\+Axis\+Sequence }\end{DoxyParamCaption})} + + + +Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from vector of angles and axis sequence. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a7d88d303ded4e39e598cdf566796cc9e}{EulerAngle}}(} +\DoxyCodeLine{ \{1.0, 0.0, 0.0\},} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371a6669c4dc00cb161446821b3529ca07d8}{Angle::Unit::Degree}},} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168ca6811254e01b3550bdb2dc46f204730dc}{EulerAngle::AxisSequence::ZYX}}} +\DoxyCodeLine{);} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+Vector} & A vector of angles \\ +\hline +\mbox{\texttt{ in}} & {\em an\+Angle\+Unit} & An angle unit \\ +\hline +\mbox{\texttt{ in}} & {\em an\+Axis\+Sequence} & An axis sequence \\ +\hline +\end{DoxyParams} + + +\doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a959afa9de94bff84008813662da769e0}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a959afa9de94bff84008813662da769e0}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!getAxisSequence@{getAxisSequence}} +\index{getAxisSequence@{getAxisSequence}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{getAxisSequence()}{getAxisSequence()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::get\+Axis\+Sequence (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const} + + + +Get axis sequence. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a959afa9de94bff84008813662da769e0}{getAxisSequence}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +Axis sequence (e.\+g, Z\+YX) +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a6a2ec66eea87c4645cc7815c82d09d0e}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a6a2ec66eea87c4645cc7815c82d09d0e}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!getPhi@{getPhi}} +\index{getPhi@{getPhi}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{getPhi()}{getPhi()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::get\+Phi (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const} + + + +Get first angle of rotation (phi) + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a6a2ec66eea87c4645cc7815c82d09d0e}{getPhi}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +First angle of rotation +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a21bb162e148332ca5c36fe4ec1d9de58}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a21bb162e148332ca5c36fe4ec1d9de58}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!getPsi@{getPsi}} +\index{getPsi@{getPsi}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{getPsi()}{getPsi()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::get\+Psi (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const} + + + +Get third angle of rotation (psi) + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a21bb162e148332ca5c36fe4ec1d9de58}{getPsi}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +Third angle of rotation +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a13a35f51cad01171184a1feb3910b68b}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a13a35f51cad01171184a1feb3910b68b}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!getTheta@{getTheta}} +\index{getTheta@{getTheta}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{getTheta()}{getTheta()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::get\+Theta (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const} + + + +Get second angle of rotation (theta) + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a13a35f51cad01171184a1feb3910b68b}{getTheta}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +Second angle of rotation +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5140298e4d18f9b63fe1791e2785938c}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5140298e4d18f9b63fe1791e2785938c}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!isDefined@{isDefined}} +\index{isDefined@{isDefined}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{isDefined()}{isDefined()}} +{\footnotesize\ttfamily bool ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::is\+Defined (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const} + + + +Check if Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} is defined. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5140298e4d18f9b63fe1791e2785938c}{isDefined}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +True if Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} is defined +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ab25e5b93b6cff6716c08d5b9de4ab2c5}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ab25e5b93b6cff6716c08d5b9de4ab2c5}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!isNear@{isNear}} +\index{isNear@{isNear}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{isNear()}{isNear()}} +{\footnotesize\ttfamily bool ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::is\+Near (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \&}]{a\+Euler\+Angle, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{an\+Angular\+Tolerance }\end{DoxyParamCaption}) const} + + + +Check if Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} is equal to another Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} within a given angular tolerance. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ab25e5b93b6cff6716c08d5b9de4ab2c5}{isNear}}(} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}(),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(1e-\/6)} +\DoxyCodeLine{);} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+Euler\+Angle} & A Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \\ +\hline +\mbox{\texttt{ in}} & {\em an\+Angular\+Tolerance} & An angular tolerance \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +True if equal within given angular tolerance +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a75a6bd4f088b43ba2f9e7a9a1a963e64}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a75a6bd4f088b43ba2f9e7a9a1a963e64}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!isUnitary@{isUnitary}} +\index{isUnitary@{isUnitary}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{isUnitary()}{isUnitary()}} +{\footnotesize\ttfamily bool ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::is\+Unitary (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const} + + + +Check if Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} is unitary. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a75a6bd4f088b43ba2f9e7a9a1a963e64}{isUnitary}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +True if Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} is unitary +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5adfa3b7def412a62f25fcb4d154f160}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5adfa3b7def412a62f25fcb4d154f160}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!operator"!=@{operator"!=}} +\index{operator"!=@{operator"!=}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{operator"!=()}{operator!=()}} +{\footnotesize\ttfamily bool ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::operator!= (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \&}]{a\+Euler\+Angle }\end{DoxyParamCaption}) const} + + + +Not equal to operator. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}() != \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}();} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+Euler\+Angle} & A Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +True if Euler Angles are not equal +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a487434e408dd6301e624305f9708a1b2}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a487434e408dd6301e624305f9708a1b2}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!operator==@{operator==}} +\index{operator==@{operator==}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{operator==()}{operator==()}} +{\footnotesize\ttfamily bool ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::operator== (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \&}]{a\+Euler\+Angle }\end{DoxyParamCaption}) const} + + + +Equal to operator. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}() == \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}();} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+Euler\+Angle} & A Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +True if Euler Angles are equal +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a046912d1e2a21205e51d070b186630f6}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a046912d1e2a21205e51d070b186630f6}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!Quaternion@{Quaternion}} +\index{Quaternion@{Quaternion}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{Quaternion()}{Quaternion()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::\+Quaternion (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{rotation\+::\+Quaternion}} \&}]{a\+Quaternion, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} \&}]{an\+Axis\+Sequence }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + + + +Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from Rotation Matrix. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ad52bbd103ee414308394cd4c9e9848c9}{EulerAngle::RotationMatrix}}(} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}{RotationMatrix::Unit}}(),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168ca6811254e01b3550bdb2dc46f204730dc}{EulerAngle::AxisSequence::ZYX}}} +\DoxyCodeLine{);} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A Rotation Matrix \\ +\hline +\mbox{\texttt{ in}} & {\em an\+Axis\+Sequence} & An axis sequence \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ad52bbd103ee414308394cd4c9e9848c9}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ad52bbd103ee414308394cd4c9e9848c9}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!RotationMatrix@{RotationMatrix}} +\index{RotationMatrix@{RotationMatrix}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{RotationMatrix()}{RotationMatrix()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::\+Rotation\+Matrix (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{rotation\+::\+Rotation\+Matrix}} \&}]{a\+Rotation\+Matrix, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} \&}]{an\+Axis\+Sequence }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + + + +Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from Rotation Vector. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac8579cff213d96389fcb8daa84d81063}{EulerAngle::RotationVector}}(} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}(),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168ca6811254e01b3550bdb2dc46f204730dc}{EulerAngle::AxisSequence::ZYX}}} +\DoxyCodeLine{);} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A Rotation Vector \\ +\hline +\mbox{\texttt{ in}} & {\em an\+Axis\+Sequence} & An axis sequence \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac8579cff213d96389fcb8daa84d81063}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac8579cff213d96389fcb8daa84d81063}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!RotationVector@{RotationVector}} +\index{RotationVector@{RotationVector}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{RotationVector()}{RotationVector()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::\+Rotation\+Vector (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{rotation\+::\+Rotation\+Vector}} \&}]{a\+Rotation\+Vector, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} \&}]{an\+Axis\+Sequence }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + + + +Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a046912d1e2a21205e51d070b186630f6}{EulerAngle::Quaternion}}(} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}(),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168ca6811254e01b3550bdb2dc46f204730dc}{EulerAngle::AxisSequence::ZYX}}} +\DoxyCodeLine{);} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ +\hline +\mbox{\texttt{ in}} & {\em an\+Axis\+Sequence} & An axis sequence \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_af8605f8fa6810bdf2043cdb8b4b2f2a2}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_af8605f8fa6810bdf2043cdb8b4b2f2a2}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!StringFromAxisSequence@{StringFromAxisSequence}} +\index{StringFromAxisSequence@{StringFromAxisSequence}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{StringFromAxisSequence()}{StringFromAxisSequence()}} +{\footnotesize\ttfamily String ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::\+String\+From\+Axis\+Sequence (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168c}{Euler\+Angle\+::\+Axis\+Sequence}} \&}]{an\+Axis\+Sequence }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + + + +Construct a string representation of an axis sequence. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_af8605f8fa6810bdf2043cdb8b4b2f2a2}{EulerAngle::StringFromAxisSequence}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ac0be9aa2bd8691e11c6b2838709c168ca6811254e01b3550bdb2dc46f204730dc}{EulerAngle::AxisSequence::ZYX}});} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em an\+Axis\+Sequence} & An axis sequence \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +String representation of axis sequence +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a6ef0461c00dd105f6c38fe5a2ee22c94}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a6ef0461c00dd105f6c38fe5a2ee22c94}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!toString@{toString}} +\index{toString@{toString}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{toString()}{toString()}} +{\footnotesize\ttfamily String ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::to\+String (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371}{Angle\+::\+Unit}} \&}]{an\+Angle\+Unit = {\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371a6669c4dc00cb161446821b3529ca07d8}{Angle\+::\+Unit\+::\+Degree}}} }\end{DoxyParamCaption}) const} + + + +Return string form of Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \mbox{[}phi; theta; psi\mbox{]}. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a6ef0461c00dd105f6c38fe5a2ee22c94}{toString}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371a6669c4dc00cb161446821b3529ca07d8}{Angle::Unit::Degree}});} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em (optional)} & an\+Angle\+Unit An angle unit \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +String from of Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a511d16a1d248592a98f6fd3345bd7547}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a511d16a1d248592a98f6fd3345bd7547}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!toVector@{toVector}} +\index{toVector@{toVector}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{toVector()}{toVector()}} +{\footnotesize\ttfamily Vector3d ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::to\+Vector (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371}{Angle\+::\+Unit}} \&}]{an\+Angle\+Unit }\end{DoxyParamCaption}) const} + + + +Return vector containing the three angles. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a511d16a1d248592a98f6fd3345bd7547}{toVector}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371a6669c4dc00cb161446821b3529ca07d8}{Angle::Unit::Degree}});} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em an\+Angle\+Unit} & An angle unit \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Vector containing the three angles +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a65f9ff57748fe200180b4c7ffee03dd5}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a65f9ff57748fe200180b4c7ffee03dd5}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!Undefined@{Undefined}} +\index{Undefined@{Undefined}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{Undefined()}{Undefined()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::\+Undefined (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + + + +Construct undefined Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}}. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a65f9ff57748fe200180b4c7ffee03dd5}{EulerAngle::Undefined}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +Undefined Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!Unit@{Unit}} +\index{Unit@{Unit}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{Unit()}{Unit()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::\+Unit (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + + + +Construct unitary Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}}. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +Unitary Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ad67a6f747c305d3528a7d9639ce14bf4}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ad67a6f747c305d3528a7d9639ce14bf4}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!XYZ@{XYZ}} +\index{XYZ@{XYZ}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{XYZ()}{XYZ()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::\+X\+YZ (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+First\+Angle, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+Second\+Angle, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+Third\+Angle }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + + + +Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from angles following X\+YZ sequence. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_ad67a6f747c305d3528a7d9639ce14bf4}{EulerAngle::XYZ}}(} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(1.0),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(2.0),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(3.0)} +\DoxyCodeLine{);} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+First\+Angle} & A first angle (phi) \\ +\hline +\mbox{\texttt{ in}} & {\em a\+Second\+Angle} & A second angle (theta) \\ +\hline +\mbox{\texttt{ in}} & {\em a\+Third\+Angle} & A third angle (psi) \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5c480a99e25a582539a3d23bbc1cfaad}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5c480a99e25a582539a3d23bbc1cfaad}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!ZXY@{ZXY}} +\index{ZXY@{ZXY}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{ZXY()}{ZXY()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::\+Z\+XY (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+First\+Angle, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+Second\+Angle, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+Third\+Angle }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + + + +Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from angles following Z\+XY sequence. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5c480a99e25a582539a3d23bbc1cfaad}{EulerAngle::ZXY}}(} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(1.0),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(2.0),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(3.0)} +\DoxyCodeLine{);} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+First\+Angle} & A first angle (phi) \\ +\hline +\mbox{\texttt{ in}} & {\em a\+Second\+Angle} & A second angle (theta) \\ +\hline +\mbox{\texttt{ in}} & {\em a\+Third\+Angle} & A third angle (psi) \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5a32a18b2e11e5cce47df3f651e22fe8}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5a32a18b2e11e5cce47df3f651e22fe8}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!ZYX@{ZYX}} +\index{ZYX@{ZYX}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{ZYX()}{ZYX()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Euler\+Angle\+::\+Z\+YX (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+First\+Angle, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+Second\+Angle, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{a\+Third\+Angle }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + + + +Construct Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} from angles following Z\+YX sequence. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a5a32a18b2e11e5cce47df3f651e22fe8}{EulerAngle::ZYX}}(} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(1.0),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(2.0),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(3.0)} +\DoxyCodeLine{);} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+First\+Angle} & A first angle (phi) \\ +\hline +\mbox{\texttt{ in}} & {\em a\+Second\+Angle} & A second angle (theta) \\ +\hline +\mbox{\texttt{ in}} & {\em a\+Third\+Angle} & A third angle (psi) \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} +\end{DoxyReturn} + + +\doxysubsection{Friends And Related Function Documentation} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a88d18669eb768c7f71a92df68c886202}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a88d18669eb768c7f71a92df68c886202}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}!operator$<$$<$@{operator$<$$<$}} +\index{operator$<$$<$@{operator$<$$<$}!ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle@{ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle}} +\doxysubsubsection{\texorpdfstring{operator$<$$<$}{operator<<}} +{\footnotesize\ttfamily std\+::ostream\& operator$<$$<$ (\begin{DoxyParamCaption}\item[{std\+::ostream \&}]{an\+Output\+Stream, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \&}]{a\+Euler\+Angle }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [friend]}} + + + +Output stream operator. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{std::cout << \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}();} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em an\+Output\+Stream} & An output stream \\ +\hline +\mbox{\texttt{ in}} & {\em a\+Euler\+Angle} & A Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Output stream reference +\end{DoxyReturn} + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +include/\+Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\mbox{\hyperlink{_euler_angle_8hpp}{Euler\+Angle.\+hpp}}\item +src/\+Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\mbox{\hyperlink{_euler_angle_8cpp}{Euler\+Angle.\+cpp}}\end{DoxyCompactItemize} diff --git a/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion.tex b/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion.tex index b299af31..e76277f7 100644 --- a/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion.tex +++ b/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion.tex @@ -29,26 +29,30 @@ \begin{DoxyCompactList}\small\item\em Equal to operator. \end{DoxyCompactList}\item bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a9bd92ff5c1e57bdc7572b2507363bd15}{operator!=}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) const \begin{DoxyCompactList}\small\item\em Not equal to operator. \end{DoxyCompactList}\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a87ad253260d586f019f07b6ae7202e19}{operator+}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) const +\begin{DoxyCompactList}\small\item\em Addition operator. \end{DoxyCompactList}\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a95aa653a242332b5d3590c81f8819bb8}{operator$\ast$}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) const +\begin{DoxyCompactList}\small\item\em Multiplication operator (\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}) \end{DoxyCompactList}\item Vector3d \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_af683f4d97a2b3ead7f82d5a5352ccd66}{operator$\ast$}} (const Vector3d \&a\+Vector) const -\begin{DoxyCompactList}\small\item\em Addition operator (quaternion) \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Multiplication operator (vector) \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_afe9742084b6a328cb8fab233a5485122}{operator$\ast$}} (const Real \&a\+Scalar) const \begin{DoxyCompactList}\small\item\em Multiplication operator (scalar) \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a410602d95ca3038414e373f689ef47ba}{operator/}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) const -\begin{DoxyCompactList}\small\item\em Division operator (quaternion) \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Division operator (\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}) \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a7b03af85a1a62e2fe18eb684c2dc1c5c}{operator$^\wedge$}} (const Real \&a\+Scalar) const -\begin{DoxyCompactList}\small\item\em Power operator (quaternion) \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Power operator (\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}) \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \& \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_acf750e6a9664f75b70c4c1afe50eff7d}{operator+=}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) -\begin{DoxyCompactList}\small\item\em Addition assignment operator (quaternion) \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Addition assignment operator (\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}) \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \& \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a4aa0b88ebd82e92d05210c0b9d5b1cc3}{operator$\ast$=}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) -\begin{DoxyCompactList}\small\item\em Multiplication assignment operator (quaternion) \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Multiplication assignment operator (\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}) \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \& \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_aa6ec77b7da4aa05500e6551a4797bbb3}{operator/=}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) -\begin{DoxyCompactList}\small\item\em Division assignment operator (quaternion) \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Division assignment operator (\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}) \end{DoxyCompactList}\item bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a25d3f5bd7307918ea70b3b21f80a3001}{is\+Defined}} () const -\begin{DoxyCompactList}\small\item\em Check if quaternion is defined. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Check if \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} is defined. \end{DoxyCompactList}\item bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_aea4706c3cc65b5a8e7250a042cb1edaa}{is\+Unitary}} () const -\begin{DoxyCompactList}\small\item\em Check if quaternion is unitary, i.\+e. its norm is equal to 1.\+0. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Check if \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} is unitary (i.\+e., its norm is equal to 1.\+0) \end{DoxyCompactList}\item bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_afab79d88d91c8fc0a6b888a91f0e52bd}{is\+Near}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&an\+Angular\+Tolerance) const -\begin{DoxyCompactList}\small\item\em Check if quaternion is near a given quaternion. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Check if \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} is near another \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item Real \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_adfdffa7d538271cddf839224bcb4e738}{x}} () const \begin{DoxyCompactList}\small\item\em Get first component of vector part. \end{DoxyCompactList}\item Real \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a10f6aba9001c60d4e106a7989520c03a}{y}} () const @@ -61,53 +65,63 @@ \begin{DoxyCompactList}\small\item\em Get vector part. \end{DoxyCompactList}\item Real \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_af25340ddd9f641d4e3b588b0fa110669}{get\+Scalar\+Part}} () const \begin{DoxyCompactList}\small\item\em Get scalar part. \end{DoxyCompactList}\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a76d45236d97aca97432d5e6604cf6acf}{to\+Normalized}} () const +\begin{DoxyCompactList}\small\item\em Calculate normalized \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_abd6b6809b6be6bff26bf99a4c2afbcdb}{to\+Conjugate}} () const +\begin{DoxyCompactList}\small\item\em Calculate conjugate of \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a57e55414171904bd5126707ec5b1cb1b}{to\+Inverse}} () const +\begin{DoxyCompactList}\small\item\em Calculate inverse of \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a1e858e5dbaf5ac0b3385e76320cc449f}{exp}} () const -\begin{DoxyCompactList}\small\item\em Get normalized quaternion. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Calculate exponential of \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ad0889624c3960610d94c44c2675fe2d7}{log}} () const -\begin{DoxyCompactList}\small\item\em Get logarithm. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Calculate logarithm of \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a8cc3e9ff6728b4857648cf8ffdcc1bc1}{pow}} (const Real \&a\+Value) const -\begin{DoxyCompactList}\small\item\em Get power. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Calculate power of \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item +Real \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_adac286e89986a4dc8cd2791c96bcb979}{norm}} () const +\begin{DoxyCompactList}\small\item\em Calculate norm of \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a3f4cbf44fdc4f0ef7a054ec12a08e9ca}{cross\+Multiply}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) const -\begin{DoxyCompactList}\small\item\em Get quaternion norm. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Multiply \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} using cross multiplication. \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a50c95b29f1d658560a0005ee47d40e3a}{dot\+Multiply}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) const -\begin{DoxyCompactList}\small\item\em Multiply quaternion using dot multiplication. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Multiply \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} using dot multiplication. \end{DoxyCompactList}\item Real \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_adbc57819c76d4b481fc84bb20667b796}{dot\+Product}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) const -\begin{DoxyCompactList}\small\item\em Calculate quaternion dot product. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Calculate \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} dot product. \end{DoxyCompactList}\item Vector3d \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a2f204333466437f149ebf1ec186b4c40}{rotate\+Vector}} (const Vector3d \&a\+Vector) const -\begin{DoxyCompactList}\small\item\em Rotate vector using quaternion. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Rotate vector using \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item Vector4d \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ac23b62bf5637ca0a7a533434641effb3}{to\+Vector}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a69f1621be80ba171c61830a76d481bfc}{Quaternion\+::\+Format}} \&a\+Format=\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a69f1621be80ba171c61830a76d481bfca11c51ecd5dc6f86ba3c1ae79e21482f5}{Quaternion\+::\+Format\+::\+X\+Y\+ZS}}) const -\begin{DoxyCompactList}\small\item\em Convert quaternion to its vector representation. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Convert \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} to its vector representation. \end{DoxyCompactList}\item String \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a2aa46fa76d7a9fcbad21db53e7061f45}{to\+String}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a69f1621be80ba171c61830a76d481bfc}{Quaternion\+::\+Format}} \&a\+Format) const -\begin{DoxyCompactList}\small\item\em Convert quaternion to its string representation. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Convert \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} to its string representation. \end{DoxyCompactList}\item String \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_abcc5bbb2b290710f39d2111f155ea8e3}{to\+String}} (const Integer \&a\+Precision=Integer\+::\+Undefined(), const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a69f1621be80ba171c61830a76d481bfc}{Quaternion\+::\+Format}} \&a\+Format=\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a69f1621be80ba171c61830a76d481bfca11c51ecd5dc6f86ba3c1ae79e21482f5}{Quaternion\+::\+Format\+::\+X\+Y\+ZS}}) const \item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \& \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a724528ea23c64ba56a077d2a9aeb5529}{normalize}} () -\begin{DoxyCompactList}\small\item\em Normalize quaternion. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Normalize \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \& \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a593e8387b883d1950674e3e4db8f685a}{conjugate}} () -\begin{DoxyCompactList}\small\item\em Conjugate quaternion. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Conjugate \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \& \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a08f5634f4f48c927635fe781843260fb}{inverse}} () -\begin{DoxyCompactList}\small\item\em Inverse quaternion. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Inverse \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \& \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab4698e830342864f4debb6cb5d4c66bd}{rectify}} () -\begin{DoxyCompactList}\small\item\em Rectify quaternion (enforce positive scalar part) \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Rectify \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} (enforce positive scalar part) \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a012834daa1dcccf7a85d69f84b265dfb}{angular\+Difference\+With}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) const -\begin{DoxyCompactList}\small\item\em Get angular difference with quaternion. \end{DoxyCompactList}\end{DoxyCompactItemize} +\begin{DoxyCompactList}\small\item\em Compute angular difference with \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\end{DoxyCompactItemize} \doxysubsection*{Static Public Member Functions} \begin{DoxyCompactItemize} \item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a9828e84f2f4b0837912d2a38459e052f}{Undefined}} () -\begin{DoxyCompactList}\small\item\em Constructs an undefined quaternion. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct undefined \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Unit}} () -\begin{DoxyCompactList}\small\item\em Constructs a unit quaternion. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct unitary \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{X\+Y\+ZS}} (const Real \&a\+First\+Component, const Real \&a\+Second\+Component, const Real \&a\+Third\+Component, const Real \&a\+Fourth\+Component) -\begin{DoxyCompactList}\small\item\em Constructs a quaternion using the vector-\/scalar format. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} using the vector-\/scalar format. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_aee9309aec1e4543df08f57d40a0e51ed}{Rotation\+Vector}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{rotation\+::\+Rotation\+Vector}} \&a\+Rotation\+Vector) -\begin{DoxyCompactList}\small\item\em Constructs a quaternion from a rotation vector. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} from rotation vector. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a6622a7bdc0b5a4a05b1924d8efc4b7d7}{Rotation\+Matrix}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{rotation\+::\+Rotation\+Matrix}} \&a\+Rotation\+Matrix) -\begin{DoxyCompactList}\small\item\em Constructs a rquaternion from a rotation matrix. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} from Rotation Matrix. \end{DoxyCompactList}\item +static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a2d7a76dced15258282988935a8161cbe}{Euler\+Angle}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{rotation\+::\+Euler\+Angle}} \&a\+Euler\+Angle) +\begin{DoxyCompactList}\small\item\em Construct \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} from Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}}. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a5b56dc4ce6a820188901e71d02333651}{Parse}} (const String \&a\+String, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a69f1621be80ba171c61830a76d481bfc}{Quaternion\+::\+Format}} \&a\+Format=\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a69f1621be80ba171c61830a76d481bfca11c51ecd5dc6f86ba3c1ae79e21482f5}{Quaternion\+::\+Format\+::\+X\+Y\+ZS}}) -\begin{DoxyCompactList}\small\item\em Constructs a quaternion from a string. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} from string. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a428dd39d288a6b42d9566733e038fb96}{Shortest\+Rotation}} (const Vector3d \&a\+First\+Vector, const Vector3d \&a\+Second\+Vector) -\begin{DoxyCompactList}\small\item\em Constructs a quaternion describing the shortest rotation between two vectors. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} describing the shortest rotation between two vectors. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a106daf1df7b2ee91f1ef3fb0338c8c1a}{L\+E\+RP}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+First\+Quaternion, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Second\+Quaternion, const Real \&a\+Ratio) \begin{DoxyCompactList}\small\item\em Linear interpolator method. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a896500b99a8ab9cf38bc7f402001d41b}{N\+L\+E\+RP}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+First\+Quaternion, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Second\+Quaternion, const Real \&a\+Ratio) @@ -171,7 +185,7 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \{ 0.0, 0.0, 0.0, 0.1, \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a69f1621be80ba171c61830a76d481bfca11c51ecd5dc6f86ba3c1ae79e21482f5}{Quaternion::Format::XYZS}} \} ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}}(0.0, 0.0, 0.0, 0.1, \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a69f1621be80ba171c61830a76d481bfca11c51ecd5dc6f86ba3c1ae79e21482f5}{Quaternion::Format::XYZS}}) ;} \end{DoxyCode} @@ -185,7 +199,7 @@ \hline \mbox{\texttt{ in}} & {\em a\+Fourth\+Component} & A fourth component \\ \hline -\mbox{\texttt{ in}} & {\em a\+Format} & A quaternion format \\ +\mbox{\texttt{ in}} & {\em a\+Format} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} format \\ \hline \end{DoxyParams} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ad3ca378d47be35fa0bf91e9755dd5096}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ad3ca378d47be35fa0bf91e9755dd5096}} @@ -200,7 +214,7 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \{ \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a4a69dcd1bf9592d64b93139e22f15beb}{Vector4d}}(0.0, 0.0, 0.0, 0.1), \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a69f1621be80ba171c61830a76d481bfca11c51ecd5dc6f86ba3c1ae79e21482f5}{Quaternion::Format::XYZS}} \} ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}}(\{0.0, 0.0, 0.0, 0.1\}, \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a69f1621be80ba171c61830a76d481bfca11c51ecd5dc6f86ba3c1ae79e21482f5}{Quaternion::Format::XYZS}}) ;} \end{DoxyCode} @@ -208,7 +222,7 @@ \begin{DoxyParams}[1]{Parameters} \mbox{\texttt{ in}} & {\em a\+Vector} & A 4D vector \\ \hline -\mbox{\texttt{ in}} & {\em a\+Format} & A quaternion format \\ +\mbox{\texttt{ in}} & {\em a\+Format} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} format \\ \hline \end{DoxyParams} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a7b05d9472dad47ee5c1bd8f4dd464261}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a7b05d9472dad47ee5c1bd8f4dd464261}} @@ -223,7 +237,7 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \{ \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(0.0, 0.0, 0.0), 1.0 \} ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}}(\{0.0, 0.0, 0.0\}, 1.0);} \end{DoxyCode} @@ -245,18 +259,17 @@ -Get angular difference with quaternion. +Compute angular difference with \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0).\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a012834daa1dcccf7a85d69f84b265dfb}{angularDifferenceWith}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0,} -\DoxyCodeLine{0.0, 1.0)) ; \textcolor{comment}{// 0.0 [rad]}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a012834daa1dcccf7a85d69f84b265dfb}{angularDifferenceWith}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}());} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -270,18 +283,16 @@ -Conjugate quaternion. +Conjugate \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.70710678118, 0.70710678118) ; \textcolor{comment}{// [0.0,}} -\DoxyCodeLine{0.0, 0.70710678118, 0.70710678118] quaternion.conjugate() ; \textcolor{comment}{// [0.0, 0.0, -\/0.70710678118,}} -\DoxyCodeLine{0.70710678118]} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.70710678118, 0.70710678118).\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a593e8387b883d1950674e3e4db8f685a}{conjugate}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Reference to quaternion +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} reference \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a3f4cbf44fdc4f0ef7a054ec12a08e9ca}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a3f4cbf44fdc4f0ef7a054ec12a08e9ca}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!crossMultiply@{crossMultiply}} @@ -291,29 +302,19 @@ -Get quaternion norm. +Multiply \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} using cross multiplication. \begin{DoxyCode}{0} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, -\/0.70710678118, 0.70710678118).norm() ; \textcolor{comment}{// 1.0}} -\DoxyCodeLine{ @encode} -\DoxyCodeLine{ } -\DoxyCodeLine{ @\textcolor{keywordflow}{return} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} norm} -\DoxyCodeLine{} -\DoxyCodeLine{Real norm() \textcolor{keyword}{const};} -\DoxyCodeLine{} -\DoxyCodeLine{ @brief Multiply quaternion \textcolor{keyword}{using} cross multiplication} -\DoxyCodeLine{ } -\DoxyCodeLine{ @code} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_1 = ...} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_2 = ...} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_3 = q\_1.crossMultiply(q\_2)} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_1 = ...} +\DoxyCodeLine{Quaternion q\_2 = ...} +\DoxyCodeLine{Quaternion q\_3 = q\_1.crossMultiply(q\_2)} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -327,7 +328,7 @@ -Multiply quaternion using dot multiplication. +Multiply \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} using dot multiplication. \begin{DoxyCode}{0} @@ -339,7 +340,7 @@ \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -353,7 +354,7 @@ -Calculate quaternion dot product. +Calculate \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} dot product. \begin{DoxyCode}{0} @@ -365,7 +366,31 @@ \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a2d7a76dced15258282988935a8161cbe}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a2d7a76dced15258282988935a8161cbe}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!EulerAngle@{EulerAngle}} +\index{EulerAngle@{EulerAngle}!ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}} +\doxysubsubsection{\texorpdfstring{EulerAngle()}{EulerAngle()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Quaternion\+::\+Euler\+Angle (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{rotation\+::\+Euler\+Angle}} \&}]{a\+Euler\+Angle }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + + + +Construct \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} from Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}}. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a2d7a76dced15258282988935a8161cbe}{Quaternion::EulerAngle}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}());} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}}} & A Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -379,49 +404,17 @@ -Get normalized quaternion. +Calculate exponential of \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.000000000000001).toNormalized() ; \textcolor{comment}{// [0.0, 0.0, 0.0, 1.0]}} -\DoxyCodeLine{ @encode} -\DoxyCodeLine{ } -\DoxyCodeLine{ @\textcolor{keywordflow}{return} Normalized quaternion} -\DoxyCodeLine{} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} toNormalized() \textcolor{keyword}{const};} -\DoxyCodeLine{} -\DoxyCodeLine{ @brief Get \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a593e8387b883d1950674e3e4db8f685a}{conjugate}} quaternion} -\DoxyCodeLine{ } -\DoxyCodeLine{ @code} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.70710678118, 0.70710678118).toConjugate() ; \textcolor{comment}{// [0.0, 0.0,}} -\DoxyCodeLine{ -\/0.70710678118, 0.70710678118]} -\DoxyCodeLine{ @encode} -\DoxyCodeLine{ } -\DoxyCodeLine{ @\textcolor{keywordflow}{return} Conjugate quaternion} -\DoxyCodeLine{} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} toConjugate() \textcolor{keyword}{const};} -\DoxyCodeLine{} -\DoxyCodeLine{ @brief Get \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a08f5634f4f48c927635fe781843260fb}{inverse}} quaternion} -\DoxyCodeLine{ } -\DoxyCodeLine{ @code} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.70710678118, 0.70710678118).toInverse() ; \textcolor{comment}{// [0.0, 0.0,}} -\DoxyCodeLine{ -\/0.70710678118, 0.70710678118]} -\DoxyCodeLine{ @encode} -\DoxyCodeLine{ } -\DoxyCodeLine{ @\textcolor{keywordflow}{return} Inverse quaternion} -\DoxyCodeLine{} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} toInverse() \textcolor{keyword}{const};} -\DoxyCodeLine{} -\DoxyCodeLine{ @brief Get exponential} -\DoxyCodeLine{ } -\DoxyCodeLine{ @code} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_1 = ...} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_2 = q\_1.exp() ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_1 = ...} +\DoxyCodeLine{Quaternion q\_2 = q\_1.exp();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Exponential +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_af25340ddd9f641d4e3b588b0fa110669}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_af25340ddd9f641d4e3b588b0fa110669}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!getScalarPart@{getScalarPart}} @@ -435,12 +428,12 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).getScalarPart() ; \textcolor{comment}{// 1.0}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_af25340ddd9f641d4e3b588b0fa110669}{getScalarPart}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Scalar part +Real \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a3c12f3cb5522ec354d8f2e369135430c}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a3c12f3cb5522ec354d8f2e369135430c}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!getVectorPart@{getVectorPart}} @@ -454,12 +447,12 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).getVectorPart() ; \textcolor{comment}{// [0.0, 0.0, 0.0]}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a3c12f3cb5522ec354d8f2e369135430c}{getVectorPart}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Vector part +Vector \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a08f5634f4f48c927635fe781843260fb}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a08f5634f4f48c927635fe781843260fb}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!inverse@{inverse}} @@ -469,18 +462,16 @@ -Inverse quaternion. +Inverse \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.70710678118, 0.70710678118) ; \textcolor{comment}{// [0.0,}} -\DoxyCodeLine{0.0, 0.70710678118, 0.70710678118] quaternion.inverse() ; \textcolor{comment}{// [0.0, 0.0, -\/0.70710678118,}} -\DoxyCodeLine{0.70710678118]} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.70710678118, 0.70710678118).\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a08f5634f4f48c927635fe781843260fb}{inverse}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Reference to quaternion +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} reference \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a25d3f5bd7307918ea70b3b21f80a3001}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a25d3f5bd7307918ea70b3b21f80a3001}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!isDefined@{isDefined}} @@ -490,16 +481,16 @@ -Check if quaternion is defined. +Check if \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} is defined. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0).\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a25d3f5bd7307918ea70b3b21f80a3001}{isDefined}}() ; \textcolor{comment}{// True}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a25d3f5bd7307918ea70b3b21f80a3001}{isDefined}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -True if quaternion is defined +True if \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} is defined \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_afab79d88d91c8fc0a6b888a91f0e52bd}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_afab79d88d91c8fc0a6b888a91f0e52bd}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!isNear@{isNear}} @@ -509,24 +500,26 @@ -Check if quaternion is near a given quaternion. +Check if \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} is near another \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0).\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_afab79d88d91c8fc0a6b888a91f0e52bd}{isNear}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0 + 1e-\/19),} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_ac8d7459ae201e96eabd5e5d86eff5cb0}{Angle::Radians}}(1e-\/6)) ; \textcolor{comment}{// True}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_afab79d88d91c8fc0a6b888a91f0e52bd}{isNear}}(} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0 + 1e-\/19),} +\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_ac8d7459ae201e96eabd5e5d86eff5cb0}{Angle::Radians}}(1e-\/6)} +\DoxyCodeLine{);} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \mbox{\texttt{ in}} & {\em an\+Angular\+Tolerance} & An angular tolerance \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -True if quaternions are near each other +True if Quaternions are near each other \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_aea4706c3cc65b5a8e7250a042cb1edaa}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_aea4706c3cc65b5a8e7250a042cb1edaa}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!isUnitary@{isUnitary}} @@ -536,16 +529,16 @@ -Check if quaternion is unitary, i.\+e. its norm is equal to 1.\+0. +Check if \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} is unitary (i.\+e., its norm is equal to 1.\+0) \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0).\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_aea4706c3cc65b5a8e7250a042cb1edaa}{isUnitary}}() ; \textcolor{comment}{// True}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_aea4706c3cc65b5a8e7250a042cb1edaa}{isUnitary}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -True if quaternion is unitary +True if \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} is unitary \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a106daf1df7b2ee91f1ef3fb0338c8c1a}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a106daf1df7b2ee91f1ef3fb0338c8c1a}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!LERP@{LERP}} @@ -561,15 +554,15 @@ \begin{DoxyCode}{0} \DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_1 = ...} \DoxyCodeLine{Quaternion q\_2 = ...} -\DoxyCodeLine{Quaternion q = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}}.LERP(q\_1, q\_2, 0.5)} +\DoxyCodeLine{Quaternion::LERP(q\_1, q\_2, 0.5);} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+First\+Quaternion} & A first quaternion \\ +\mbox{\texttt{ in}} & {\em a\+First\+Quaternion} & A first \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline -\mbox{\texttt{ in}} & {\em a\+Second\+Quaternion} & A second quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Second\+Quaternion} & A second \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \mbox{\texttt{ in}} & {\em a\+Ratio} & An interpolator ratio \\ \hline @@ -585,17 +578,17 @@ -Get logarithm. +Calculate logarithm of \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} \DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_1 = ...} -\DoxyCodeLine{Quaternion q\_2 = q\_1.log() ;} +\DoxyCodeLine{Quaternion q\_2 = q\_1.log();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Logarithm +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a896500b99a8ab9cf38bc7f402001d41b}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a896500b99a8ab9cf38bc7f402001d41b}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!NLERP@{NLERP}} @@ -611,15 +604,15 @@ \begin{DoxyCode}{0} \DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_1 = ...} \DoxyCodeLine{Quaternion q\_2 = ...} -\DoxyCodeLine{Quaternion q = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}}.NLERP(q\_1, q\_2, 0.5)} +\DoxyCodeLine{Quaternion::NLERP(q\_1, q\_2, 0.5);} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+First\+Quaternion} & A first quaternion \\ +\mbox{\texttt{ in}} & {\em a\+First\+Quaternion} & A first \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline -\mbox{\texttt{ in}} & {\em a\+Second\+Quaternion} & A second quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Second\+Quaternion} & A second \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \mbox{\texttt{ in}} & {\em a\+Ratio} & An interpolator ratio \\ \hline @@ -627,6 +620,25 @@ \begin{DoxyReturn}{Returns} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_adac286e89986a4dc8cd2791c96bcb979}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_adac286e89986a4dc8cd2791c96bcb979}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!norm@{norm}} +\index{norm@{norm}!ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}} +\doxysubsubsection{\texorpdfstring{norm()}{norm()}} +{\footnotesize\ttfamily Real ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Quaternion\+::norm (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const} + + + +Calculate norm of \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, -\/0.70710678118, 0.70710678118).\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_adac286e89986a4dc8cd2791c96bcb979}{norm}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} norm +\end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a724528ea23c64ba56a077d2a9aeb5529}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a724528ea23c64ba56a077d2a9aeb5529}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!normalize@{normalize}} \index{normalize@{normalize}!ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}} @@ -635,17 +647,16 @@ -Normalize quaternion. +Normalize \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.000000000000001) ; \textcolor{comment}{// [0.0, 0.0,}} -\DoxyCodeLine{0.0, 1.000000000000001] quaternion.normalize() ; \textcolor{comment}{// [0.0, 0.0, 0.0, 1.0]}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.000000000000001).\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a724528ea23c64ba56a077d2a9aeb5529}{normalize}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Reference to quaternion +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} reference \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a9bd92ff5c1e57bdc7572b2507363bd15}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a9bd92ff5c1e57bdc7572b2507363bd15}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!operator"!=@{operator"!=}} @@ -659,29 +670,58 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0) != \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(1.0, 0.0, 0.0, 0.0) ; \textcolor{comment}{// True}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}() != \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}();} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -True if quaternions are not equal +True if Quaternions are not equal +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a95aa653a242332b5d3590c81f8819bb8}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a95aa653a242332b5d3590c81f8819bb8}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!operator$\ast$@{operator$\ast$}} +\index{operator$\ast$@{operator$\ast$}!ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}} +\doxysubsubsection{\texorpdfstring{operator$\ast$()}{operator*()}\hspace{0.1cm}{\footnotesize\ttfamily [1/3]}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Quaternion\+::operator$\ast$ (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&}]{a\+Quaternion }\end{DoxyParamCaption}) const} + + + +Multiplication operator (\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}) + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_B\_A = ... ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_C\_B = ... ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_C\_A = q\_C\_B * q\_B\_A ;} +\end{DoxyCode} + + +\begin{DoxyNote}{Note} +This operator uses cross multiplication +\end{DoxyNote} + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_afe9742084b6a328cb8fab233a5485122}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_afe9742084b6a328cb8fab233a5485122}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!operator$\ast$@{operator$\ast$}} \index{operator$\ast$@{operator$\ast$}!ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}} -\doxysubsubsection{\texorpdfstring{operator$\ast$()}{operator*()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}} +\doxysubsubsection{\texorpdfstring{operator$\ast$()}{operator*()}\hspace{0.1cm}{\footnotesize\ttfamily [2/3]}} {\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Quaternion\+::operator$\ast$ (\begin{DoxyParamCaption}\item[{const Real \&}]{a\+Scalar }\end{DoxyParamCaption}) const} Multiplication operator (scalar) -Example\+: + \begin{DoxyCode}{0} \DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_1 = ... ;} \DoxyCodeLine{Real scalar = ... ;} @@ -700,47 +740,18 @@ \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_af683f4d97a2b3ead7f82d5a5352ccd66}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_af683f4d97a2b3ead7f82d5a5352ccd66}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!operator$\ast$@{operator$\ast$}} \index{operator$\ast$@{operator$\ast$}!ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}} -\doxysubsubsection{\texorpdfstring{operator$\ast$()}{operator*()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}} +\doxysubsubsection{\texorpdfstring{operator$\ast$()}{operator*()}\hspace{0.1cm}{\footnotesize\ttfamily [3/3]}} {\footnotesize\ttfamily Vector3d ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Quaternion\+::operator$\ast$ (\begin{DoxyParamCaption}\item[{const Vector3d \&}]{a\+Vector }\end{DoxyParamCaption}) const} -Addition operator (quaternion) +Multiplication operator (vector) \begin{DoxyCode}{0} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_1 = ... ;} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_2 = ... ;} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_3 = q\_1 + q\_2 ;} -\DoxyCodeLine{ @encode} -\DoxyCodeLine{ } -\DoxyCodeLine{ @param [in] aQuaternion A quaternion} -\DoxyCodeLine{ @\textcolor{keywordflow}{return} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}}} -\DoxyCodeLine{} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} operator+(\textcolor{keyword}{const} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}}\& aQuaternion) \textcolor{keyword}{const};} -\DoxyCodeLine{} -\DoxyCodeLine{ @brief Multiplication operator (quaternion)} -\DoxyCodeLine{ } -\DoxyCodeLine{ @code} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_B\_A = ... ;} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_C\_B = ... ;} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_C\_A = q\_C\_B * q\_B\_A ;} -\DoxyCodeLine{ @encode} -\DoxyCodeLine{ } -\DoxyCodeLine{ @note This \textcolor{keyword}{operator} uses cross multiplication} -\DoxyCodeLine{ } -\DoxyCodeLine{ @param [in] aQuaternion A quaternion} -\DoxyCodeLine{ @\textcolor{keywordflow}{return} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}}} -\DoxyCodeLine{} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_af683f4d97a2b3ead7f82d5a5352ccd66}{operator*}}(\textcolor{keyword}{const} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}}\& aQuaternion) \textcolor{keyword}{const};} -\DoxyCodeLine{} -\DoxyCodeLine{ @brief Multiplication operator (vector)} -\DoxyCodeLine{ } -\DoxyCodeLine{ Example:} -\DoxyCodeLine{ @code} -\DoxyCodeLine{ \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_B\_A = ... ;} -\DoxyCodeLine{ \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}} v\_A = ... ;} -\DoxyCodeLine{ \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}} v\_B = q\_B\_A * v\_A ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_B\_A = ... ;} +\DoxyCodeLine{\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}} v\_A = ... ;} +\DoxyCodeLine{\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}} v\_B = q\_B\_A * v\_A ;} \end{DoxyCode} @@ -763,18 +774,44 @@ -Multiplication assignment operator (quaternion) +Multiplication assignment operator (\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}) \begin{DoxyNote}{Note} This operator uses cross multiplication \end{DoxyNote} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -Reference to quaternion +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} reference +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a87ad253260d586f019f07b6ae7202e19}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a87ad253260d586f019f07b6ae7202e19}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!operator+@{operator+}} +\index{operator+@{operator+}!ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}} +\doxysubsubsection{\texorpdfstring{operator+()}{operator+()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Quaternion\+::operator+ (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&}]{a\+Quaternion }\end{DoxyParamCaption}) const} + + + +Addition operator. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_1 = ... ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_2 = ... ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_3 = q\_1 + q\_2 ;} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_acf750e6a9664f75b70c4c1afe50eff7d}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_acf750e6a9664f75b70c4c1afe50eff7d}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!operator+=@{operator+=}} @@ -784,15 +821,15 @@ -Addition assignment operator (quaternion) +Addition assignment operator (\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}) \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -Reference to quaternion +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} reference \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a410602d95ca3038414e373f689ef47ba}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a410602d95ca3038414e373f689ef47ba}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!operator/@{operator/}} @@ -802,7 +839,7 @@ -Division operator (quaternion) +Division operator (\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}) \begin{DoxyCode}{0} @@ -817,7 +854,7 @@ \end{DoxyNote} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -831,18 +868,18 @@ -Division assignment operator (quaternion) +Division assignment operator (\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}) \begin{DoxyNote}{Note} This is equivalent to multiplying with the inverse \end{DoxyNote} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -Reference to quaternion +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} reference \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a1e39393c8587024630cd91d312284be4}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a1e39393c8587024630cd91d312284be4}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!operator==@{operator==}} @@ -856,17 +893,17 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0) == \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0) ; \textcolor{comment}{// True}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}() == \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}()} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -True if quaternions are equal +True if Quaternions are equal \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a7b03af85a1a62e2fe18eb684c2dc1c5c}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a7b03af85a1a62e2fe18eb684c2dc1c5c}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!operator$^\wedge$@{operator$^\wedge$}} @@ -876,7 +913,7 @@ -Power operator (quaternion) +Power operator (\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}) \begin{DoxyCode}{0} @@ -902,11 +939,11 @@ -Constructs a quaternion from a string. +Construct \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} from string. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a5b56dc4ce6a820188901e71d02333651}{Quaternion::Parse}}(\textcolor{stringliteral}{"[0.0, 0.0, 0.0, 1.0]"}) ; \textcolor{comment}{// [0.0, 0.0, 0.0, 1.0]}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a5b56dc4ce6a820188901e71d02333651}{Quaternion::Parse}}(\textcolor{stringliteral}{"[0.0, 0.0, 0.0, 1.0]"});} \end{DoxyCode} @@ -914,7 +951,7 @@ \begin{DoxyParams}[1]{Parameters} \mbox{\texttt{ in}} & {\em a\+String} & A string \\ \hline -\mbox{\texttt{ in}} & {\em (optional)} & a\+Format A quaternion format \\ +\mbox{\texttt{ in}} & {\em (optional)} & a\+Format A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} format \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -928,7 +965,7 @@ -Get power. +Calculate power of \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} @@ -944,7 +981,7 @@ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -Power +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab4698e830342864f4debb6cb5d4c66bd}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab4698e830342864f4debb6cb5d4c66bd}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!rectify@{rectify}} @@ -954,18 +991,16 @@ -Rectify quaternion (enforce positive scalar part) +Rectify \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} (enforce positive scalar part) \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, -\/0.70710678118, -\/0.70710678118) ; \textcolor{comment}{//}} -\DoxyCodeLine{[0.0, 0.0, -\/0.70710678118, -\/0.70710678118] quaternion.rectify() ; \textcolor{comment}{// [0.0, 0.0,}} -\DoxyCodeLine{0.70710678118, 0.70710678118]} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, -\/0.70710678118, -\/0.70710678118).\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab4698e830342864f4debb6cb5d4c66bd}{rectify}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Reference to quaternion +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} reference \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a2f204333466437f149ebf1ec186b4c40}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a2f204333466437f149ebf1ec186b4c40}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!rotateVector@{rotateVector}} @@ -975,19 +1010,18 @@ -Rotate vector using quaternion. +Rotate vector using \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q = ...} -\DoxyCodeLine{Vector3d v\_1 = ...} -\DoxyCodeLine{Vector3d v\_2 = q.rotateVector(v\_1)} +\DoxyCodeLine{\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}} v\_1 = ...} +\DoxyCodeLine{Vector3d v\_2 = q.rotateVector(v\_1);} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -1001,17 +1035,17 @@ -Constructs a rquaternion from a rotation matrix. +Construct \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} from Rotation Matrix. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a6622a7bdc0b5a4a05b1924d8efc4b7d7}{Quaternion::RotationMatrix}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}{RotationMatrix::Unit}}()) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a6622a7bdc0b5a4a05b1924d8efc4b7d7}{Quaternion::RotationMatrix}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}{RotationMatrix::Unit}}());} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A rotation matrix \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A Rotation Matrix \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -1028,18 +1062,17 @@ -Constructs a quaternion from a rotation vector. +Construct \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} from rotation vector. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_aee9309aec1e4543df08f57d40a0e51ed}{Quaternion::RotationVector}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_aee9309aec1e4543df08f57d40a0e51ed}{RotationVector}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(0.0, 0.0, 1.0),} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(0.0))) ; \textcolor{comment}{// [0.0, 0.0, 0.0, 1.0]}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_aee9309aec1e4543df08f57d40a0e51ed}{Quaternion::RotationVector}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}());} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A rotation vector \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A Rotation Vector \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -1055,12 +1088,12 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).s() ; \textcolor{comment}{// \&1.0}} +\DoxyCodeLine{Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).s();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Scalar part +Real \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a428dd39d288a6b42d9566733e038fb96}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a428dd39d288a6b42d9566733e038fb96}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!ShortestRotation@{ShortestRotation}} @@ -1070,13 +1103,11 @@ -Constructs a quaternion describing the shortest rotation between two vectors. +Construct \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} describing the shortest rotation between two vectors. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}} v\_1 = ...} -\DoxyCodeLine{Vector3d v\_2 = ...} -\DoxyCodeLine{Quaternion q = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}}.ShortestRotation(v\_1, v\_2)} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a428dd39d288a6b42d9566733e038fb96}{Quaternion::ShortestRotation}}(\{1.0, 0.0, 0.0\}, \{0.0, 1.0, 0.0\});} \end{DoxyCode} @@ -1104,19 +1135,76 @@ \begin{DoxyCode}{0} \DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_1 = ...} \DoxyCodeLine{Quaternion q\_2 = ...} -\DoxyCodeLine{Quaternion q = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}}.SLERP(q\_1, q\_2, 0.5)} +\DoxyCodeLine{Quaternion::SLERP(q\_1, q\_2, 0.5);} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+First\+Quaternion} & A first quaternion \\ +\mbox{\texttt{ in}} & {\em a\+First\+Quaternion} & A first \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline -\mbox{\texttt{ in}} & {\em a\+Second\+Quaternion} & A second quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Second\+Quaternion} & A second \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \mbox{\texttt{ in}} & {\em a\+Ratio} & An interpolator ratio \\ \hline \end{DoxyParams} +\begin{DoxyReturn}{Returns} +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_abd6b6809b6be6bff26bf99a4c2afbcdb}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_abd6b6809b6be6bff26bf99a4c2afbcdb}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!toConjugate@{toConjugate}} +\index{toConjugate@{toConjugate}!ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}} +\doxysubsubsection{\texorpdfstring{toConjugate()}{toConjugate()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Quaternion\+::to\+Conjugate (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const} + + + +Calculate conjugate of \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.70710678118, 0.70710678118).\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_abd6b6809b6be6bff26bf99a4c2afbcdb}{toConjugate}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a57e55414171904bd5126707ec5b1cb1b}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a57e55414171904bd5126707ec5b1cb1b}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!toInverse@{toInverse}} +\index{toInverse@{toInverse}!ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}} +\doxysubsubsection{\texorpdfstring{toInverse()}{toInverse()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Quaternion\+::to\+Inverse (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const} + + + +Calculate inverse of \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.70710678118, 0.70710678118).\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a57e55414171904bd5126707ec5b1cb1b}{toInverse}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a76d45236d97aca97432d5e6604cf6acf}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a76d45236d97aca97432d5e6604cf6acf}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!toNormalized@{toNormalized}} +\index{toNormalized@{toNormalized}!ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}} +\doxysubsubsection{\texorpdfstring{toNormalized()}{toNormalized()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Quaternion\+::to\+Normalized (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const} + + + +Calculate normalized \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.000000000000001).\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a76d45236d97aca97432d5e6604cf6acf}{toNormalized}}();} +\end{DoxyCode} + + \begin{DoxyReturn}{Returns} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \end{DoxyReturn} @@ -1134,19 +1222,19 @@ -Convert quaternion to its string representation. +Convert \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} to its string representation. \begin{DoxyCode}{0} -\DoxyCodeLine{Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).toString() ; \textcolor{comment}{// "[0.0, 0.0, 0.0, 1.0]"}} +\DoxyCodeLine{Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).toString();} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em (optional)} & a\+Precision A quaternion precision \\ +\mbox{\texttt{ in}} & {\em (optional)} & a\+Precision A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} precision \\ \hline -\mbox{\texttt{ in}} & {\em (optional)} & a\+Format A quaternion format \\ +\mbox{\texttt{ in}} & {\em (optional)} & a\+Format A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} format \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -1160,17 +1248,17 @@ -Convert quaternion to its vector representation. +Convert \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} to its vector representation. \begin{DoxyCode}{0} -\DoxyCodeLine{Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).toVector() ; \textcolor{comment}{// [0.0, 0.0, 0.0, 1.0]}} +\DoxyCodeLine{Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).toVector();} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em (optional)} & a\+Format A quaternion format \\ +\mbox{\texttt{ in}} & {\em (optional)} & a\+Format A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} format \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -1184,16 +1272,16 @@ -Constructs an undefined quaternion. +Construct undefined \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a9828e84f2f4b0837912d2a38459e052f}{Quaternion::Undefined}}() ; \textcolor{comment}{// Undefined}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a9828e84f2f4b0837912d2a38459e052f}{Quaternion::Undefined}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Undefined quaternion +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!Unit@{Unit}} @@ -1203,16 +1291,16 @@ -Constructs a unit quaternion. +Construct unitary \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}() ; \textcolor{comment}{// [0.0, 0.0, 0.0, 1.0]}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Unit quaternion +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_adfdffa7d538271cddf839224bcb4e738}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_adfdffa7d538271cddf839224bcb4e738}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!x@{x}} @@ -1226,12 +1314,12 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).x() ; \textcolor{comment}{// \&0.0}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_adfdffa7d538271cddf839224bcb4e738}{x}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -First component of vector part +Real \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!XYZS@{XYZS}} @@ -1241,11 +1329,11 @@ -Constructs a quaternion using the vector-\/scalar format. +Construct \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} using the vector-\/scalar format. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} quaternion = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0) ; \textcolor{comment}{// [0.0, 0.0, 0.0, 1.0]}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0);} \end{DoxyCode} @@ -1275,12 +1363,12 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).y() ; \textcolor{comment}{// \&0.0}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a10f6aba9001c60d4e106a7989520c03a}{y}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Second component of vector part +Real \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab2c7e95b006839e078c0517a320636cf}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab2c7e95b006839e078c0517a320636cf}} \index{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion@{ostk::mathematics::geometry::d3::transformation::rotation::Quaternion}!z@{z}} @@ -1294,12 +1382,12 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).z() ; \textcolor{comment}{// \&0.0}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab2c7e95b006839e078c0517a320636cf}{z}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Third component of vector part +Real \end{DoxyReturn} @@ -1314,7 +1402,7 @@ Multiplication operator (scalar) -Example\+: + \begin{DoxyCode}{0} \DoxyCodeLine{Real scalar = ... ;} \DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_a473fe143aff59c8d0ef54b7e73138853}{Quaternion}} q\_1 = ... ;} @@ -1326,7 +1414,7 @@ \begin{DoxyParams}[1]{Parameters} \mbox{\texttt{ in}} & {\em a\+Scalar} & A scalar \\ \hline -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -1344,7 +1432,7 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{std::cout << \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0) ;} +\DoxyCodeLine{std::cout << \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0);} \end{DoxyCode} @@ -1352,11 +1440,11 @@ \begin{DoxyParams}[1]{Parameters} \mbox{\texttt{ in}} & {\em an\+Output\+Stream} & An output stream \\ \hline -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -A reference to output stream +Output stream reference \end{DoxyReturn} diff --git a/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix.tex b/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix.tex index 5943680b..4102832f 100644 --- a/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix.tex +++ b/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix.tex @@ -29,40 +29,42 @@ double \& \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a7950245c6fd96b7c75676843a63915be}{operator()}} (const Index \&a\+Row\+Index, const Index \&a\+Column\+Index) \begin{DoxyCompactList}\small\item\em Index function operator. \end{DoxyCompactList}\item bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_ae17d3b16182ce6110a87534fd5aff6b4}{is\+Defined}} () const -\begin{DoxyCompactList}\small\item\em Check if rotation matrix is defined. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Check if Rotation Matrix is defined. \end{DoxyCompactList}\item const Matrix3d \& \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a4e911a9772e1740533c371d9c89cefb8}{access\+Matrix}} () const -\begin{DoxyCompactList}\small\item\em Access underlying rotation matrix. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Access underlying 3D Matrix. \end{DoxyCompactList}\item Vector3d \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a8f62d9ae197f5f94e168a612be0a9bb1}{get\+Row\+At}} (const Index \&a\+Row\+Index) const \begin{DoxyCompactList}\small\item\em Get row at index. \end{DoxyCompactList}\item Vector3d \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a2abb637de6747ef51067aaf00237d9bf}{get\+Column\+At}} (const Index \&a\+Column\+Index) const \begin{DoxyCompactList}\small\item\em Get column at index. \end{DoxyCompactList}\item Matrix3d \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a2cea2567403768437e4074720996bea2}{get\+Matrix}} () const -\begin{DoxyCompactList}\small\item\em Get underlying rotation matrix. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Get underlying 3D Matrix. \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_ae0b991e0539d9767a4a2bb366b073ded}{to\+Transposed}} () const -\begin{DoxyCompactList}\small\item\em Get transposed rotation matrix. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Calculate transposed Rotation Matrix. \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \& \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_adc3e15a05d4efeed5bf2cb3eaf2c7237}{transpose}} () -\begin{DoxyCompactList}\small\item\em Transpose rotation matrix. \end{DoxyCompactList}\end{DoxyCompactItemize} +\begin{DoxyCompactList}\small\item\em Transpose Rotation Matrix. \end{DoxyCompactList}\end{DoxyCompactItemize} \doxysubsection*{Static Public Member Functions} \begin{DoxyCompactItemize} \item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_aeae6917c12ec1afe40af8d15bcd1ed0c}{Undefined}} () -\begin{DoxyCompactList}\small\item\em Constructs an undefined rotation matrix. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct an undefined Rotation Matrix. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}{Unit}} () -\begin{DoxyCompactList}\small\item\em Constructs a unit rotation matrix. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct unitary Rotation Matrix. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_ad6019cbe46a2b47ad26470f996214bb0}{RX}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+Rotation\+Angle) -\begin{DoxyCompactList}\small\item\em Constructs a rotation matrix representing a rotation around the X-\/axis. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct Rotation Matrix representing a rotation around the X-\/axis. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a580d873ccc82cafaa3e18bedfe54a0f2}{RY}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+Rotation\+Angle) -\begin{DoxyCompactList}\small\item\em Constructs a rotation matrix representing a rotation around the Y-\/axis. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct Rotation Matrix representing a rotation around the Y-\/axis. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a4056e0c5112b76e58df8afbf359cefa6}{RZ}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&a\+Rotation\+Angle) -\begin{DoxyCompactList}\small\item\em Constructs a rotation matrix representing a rotation around the Z-\/axis. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct Rotation Matrix representing a rotation around the Z-\/axis. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a803abf578ca73618baf5d92358a1fef5}{Rows}} (const Vector3d \&a\+First\+Row, const Vector3d \&a\+Second\+Row, const Vector3d \&a\+Third\+Row) -\begin{DoxyCompactList}\small\item\em Constructs a rotation matrix from row vectors. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct Rotation Matrix from row vectors. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a255df0da5d9ec95a9842ed312a67beb2}{Columns}} (const Vector3d \&a\+First\+Column, const Vector3d \&a\+Second\+Column, const Vector3d \&a\+Third\+Column) -\begin{DoxyCompactList}\small\item\em Constructs a rotation matrix from column vectors. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct Rotation Matrix from column vectors. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a08706245c522cf0a4b101efdc66ab802}{Quaternion}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{rotation\+::\+Quaternion}} \&a\+Quaternion) -\begin{DoxyCompactList}\small\item\em Constructs a rotation matrix from a quaternion. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct Rotation Matrix from \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_af11a91008ad9a5e8682437777efcfb0d}{Rotation\+Vector}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{rotation\+::\+Rotation\+Vector}} \&a\+Rotation\+Vector) -\begin{DoxyCompactList}\small\item\em Constructs a rotation matrix from a rotation vector. \end{DoxyCompactList}\end{DoxyCompactItemize} +\begin{DoxyCompactList}\small\item\em Construct Rotation Matrix from Rotation Vector. \end{DoxyCompactList}\item +static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a17e0c181b02dd8857a0414331ac54bac}{Euler\+Angle}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{rotation\+::\+Euler\+Angle}} \&a\+Euler\+Angle) +\begin{DoxyCompactList}\small\item\em Construct Rotation Matrix from Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}}. \end{DoxyCompactList}\end{DoxyCompactItemize} \doxysubsection*{Friends} \begin{DoxyCompactItemize} \item @@ -133,10 +135,10 @@ -Access underlying rotation matrix. +Access underlying 3D Matrix. \begin{DoxyReturn}{Returns} -Reference to underlying rotation matrix +Matrix reference \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a255df0da5d9ec95a9842ed312a67beb2}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a255df0da5d9ec95a9842ed312a67beb2}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}!Columns@{Columns}} @@ -146,12 +148,11 @@ -Constructs a rotation matrix from column vectors. +Construct Rotation Matrix from column vectors. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}} rotationMatrix = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a255df0da5d9ec95a9842ed312a67beb2}{RotationMatrix::Columns}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(1.0, 0.0, 0.0),} -\DoxyCodeLine{\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(1.0, 0.0, 0.0), \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(1.0, 0.0, 0.0)) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a255df0da5d9ec95a9842ed312a67beb2}{RotationMatrix::Columns}}(\{1.0, 0.0, 0.0\}, \{1.0, 0.0, 0.0\}, \{1.0, 0.0, 0.0\});} \end{DoxyCode} @@ -167,6 +168,30 @@ \begin{DoxyReturn}{Returns} Rotation matrix \end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a17e0c181b02dd8857a0414331ac54bac}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a17e0c181b02dd8857a0414331ac54bac}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}!EulerAngle@{EulerAngle}} +\index{EulerAngle@{EulerAngle}!ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}} +\doxysubsubsection{\texorpdfstring{EulerAngle()}{EulerAngle()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Rotation\+Matrix\+::\+Euler\+Angle (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{rotation\+::\+Euler\+Angle}} \&}]{a\+Euler\+Angle }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + + + +Construct Rotation Matrix from Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}}. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a17e0c181b02dd8857a0414331ac54bac}{RotationMatrix::EulerAngle}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}());} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+Euler\+Angle} & A Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Rotation matrix +\end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a2abb637de6747ef51067aaf00237d9bf}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a2abb637de6747ef51067aaf00237d9bf}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}!getColumnAt@{getColumnAt}} \index{getColumnAt@{getColumnAt}!ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}} @@ -183,7 +208,7 @@ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -Column at index +Vector \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a2cea2567403768437e4074720996bea2}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a2cea2567403768437e4074720996bea2}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}!getMatrix@{getMatrix}} @@ -193,10 +218,10 @@ -Get underlying rotation matrix. +Get underlying 3D Matrix. \begin{DoxyReturn}{Returns} -Underlying rotation matrix +Matrix \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a8f62d9ae197f5f94e168a612be0a9bb1}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a8f62d9ae197f5f94e168a612be0a9bb1}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}!getRowAt@{getRowAt}} @@ -214,7 +239,7 @@ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -Row at index +Vector \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_ae17d3b16182ce6110a87534fd5aff6b4}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_ae17d3b16182ce6110a87534fd5aff6b4}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}!isDefined@{isDefined}} @@ -224,16 +249,16 @@ -Check if rotation matrix is defined. +Check if Rotation Matrix is defined. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(0.0, 0.0, 1.0), \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(90.0)).isDefined() ; \textcolor{comment}{// True}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(0.0, 0.0, 1.0), \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(90.0)).isDefined();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -True if rotation matrix is defined +True if Rotation Matrix is defined \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a24dd53bd3648655d4ab858d0ce0685b2}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a24dd53bd3648655d4ab858d0ce0685b2}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}!operator"!=@{operator"!=}} @@ -247,13 +272,13 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...) != \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...) != \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...);} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A rotation matrix \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A Rotation Matrix \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -271,7 +296,7 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}} rotationMatrix = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}{RotationMatrix::Unit}}() ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}{RotationMatrix::Unit}}();} \DoxyCodeLine{rotationMatrix(0, 0) = 0.0 ;} \end{DoxyCode} @@ -298,8 +323,8 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}} rotationMatrix = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}{RotationMatrix::Unit}}() ;} -\DoxyCodeLine{\textcolor{keywordtype}{double} value\_00 = rotationMatrix(0, 0) ; \textcolor{comment}{// 1.0}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}{RotationMatrix::Unit}}();} +\DoxyCodeLine{\textcolor{keywordtype}{double} value\_00 = rotationMatrix(0, 0); \textcolor{comment}{// 1.0}} \end{DoxyCode} @@ -333,7 +358,7 @@ \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A rotation matrix \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A Rotation Matrix \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -377,13 +402,13 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...) == \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...) == \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...);} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A rotation matrix \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A Rotation Matrix \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -397,18 +422,17 @@ -Constructs a rotation matrix from a quaternion. +Construct Rotation Matrix from \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}} rotationMatrix = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a08706245c522cf0a4b101efdc66ab802}{RotationMatrix::Quaternion}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0,} -\DoxyCodeLine{0.0, 1.0)) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a08706245c522cf0a4b101efdc66ab802}{RotationMatrix::Quaternion}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}());} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -422,18 +446,17 @@ -Constructs a rotation matrix from a rotation vector. +Construct Rotation Matrix from Rotation Vector. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}} rotationMatrix = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_af11a91008ad9a5e8682437777efcfb0d}{RotationMatrix::RotationVector}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(0.0, 0.0, 1.0),} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(90.0)) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_af11a91008ad9a5e8682437777efcfb0d}{RotationMatrix::RotationVector}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}());} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A rotation vector \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A Rotation Vector \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} @@ -447,12 +470,11 @@ -Constructs a rotation matrix from row vectors. +Construct Rotation Matrix from row vectors. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}} rotationMatrix = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a803abf578ca73618baf5d92358a1fef5}{RotationMatrix::Rows}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(1.0, 0.0, 0.0), \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(1.0,} -\DoxyCodeLine{0.0, 0.0), \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(1.0, 0.0, 0.0)) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a803abf578ca73618baf5d92358a1fef5}{RotationMatrix::Rows}}(\{1.0, 0.0, 0.0\}, \{1.0, 0.0, 0.0\}, \{1.0, 0.0, 0.0\});} \end{DoxyCode} @@ -476,11 +498,11 @@ -Constructs a rotation matrix representing a rotation around the X-\/axis. +Construct Rotation Matrix representing a rotation around the X-\/axis. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}} rotationMatrix = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_ad6019cbe46a2b47ad26470f996214bb0}{RotationMatrix::RX}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(30.0)) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_ad6019cbe46a2b47ad26470f996214bb0}{RotationMatrix::RX}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(30.0));} \end{DoxyCode} @@ -500,11 +522,11 @@ -Constructs a rotation matrix representing a rotation around the Y-\/axis. +Construct Rotation Matrix representing a rotation around the Y-\/axis. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}} rotationMatrix = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a580d873ccc82cafaa3e18bedfe54a0f2}{RotationMatrix::RY}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(30.0)) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a580d873ccc82cafaa3e18bedfe54a0f2}{RotationMatrix::RY}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(30.0));} \end{DoxyCode} @@ -524,11 +546,11 @@ -Constructs a rotation matrix representing a rotation around the Z-\/axis. +Construct Rotation Matrix representing a rotation around the Z-\/axis. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}} rotationMatrix = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a4056e0c5112b76e58df8afbf359cefa6}{RotationMatrix::RZ}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(30.0)) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a4056e0c5112b76e58df8afbf359cefa6}{RotationMatrix::RZ}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(30.0));} \end{DoxyCode} @@ -548,16 +570,16 @@ -Get transposed rotation matrix. +Calculate transposed Rotation Matrix. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...).toTransposed() ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...).toTransposed();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Transposed rotation matrix +Rotation Matrix \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_adc3e15a05d4efeed5bf2cb3eaf2c7237}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_adc3e15a05d4efeed5bf2cb3eaf2c7237}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}!transpose@{transpose}} @@ -567,13 +589,18 @@ -Transpose rotation matrix. +Transpose Rotation Matrix. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...).transpose() ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...).transpose();} \end{DoxyCode} - \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_aeae6917c12ec1afe40af8d15bcd1ed0c}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_aeae6917c12ec1afe40af8d15bcd1ed0c}} + + +\begin{DoxyReturn}{Returns} +Rotation Matrix reference +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_aeae6917c12ec1afe40af8d15bcd1ed0c}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_aeae6917c12ec1afe40af8d15bcd1ed0c}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}!Undefined@{Undefined}} \index{Undefined@{Undefined}!ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}} \doxysubsubsection{\texorpdfstring{Undefined()}{Undefined()}} @@ -581,16 +608,16 @@ -Constructs an undefined rotation matrix. +Construct an undefined Rotation Matrix. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}} rotationMatrix = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_aeae6917c12ec1afe40af8d15bcd1ed0c}{RotationMatrix::Undefined}}() ; \textcolor{comment}{// Undefined}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_aeae6917c12ec1afe40af8d15bcd1ed0c}{RotationMatrix::Undefined}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Undefined rotation matrix +Rotation Matrix \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix@{ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix}!Unit@{Unit}} @@ -600,16 +627,16 @@ -Constructs a unit rotation matrix. +Construct unitary Rotation Matrix. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}} rotationMatrix = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}{RotationMatrix::Unit}}() ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}{RotationMatrix::Unit}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Unit rotation matrix +Rotation Matrix \end{DoxyReturn} @@ -626,7 +653,7 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{std::cout << \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...) ;} +\DoxyCodeLine{std::cout << \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a74d44755a8c72da68f52106af2bcfdea}{RotationMatrix}}(...);} \end{DoxyCode} @@ -634,11 +661,11 @@ \begin{DoxyParams}[1]{Parameters} \mbox{\texttt{ in}} & {\em an\+Output\+Stream} & An output stream \\ \hline -\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A rotation matrix \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A Rotation Matrix \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -A reference to output stream +Output stream reference \end{DoxyReturn} diff --git a/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector.tex b/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector.tex index 16b755d7..9fe98efd 100644 --- a/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector.tex +++ b/latex/classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector.tex @@ -2,7 +2,7 @@ \label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}\index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}} -Rotation vector. +Rotation Vector. @@ -14,35 +14,41 @@ \item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{Rotation\+Vector}} (const Vector3d \&an\+Axis, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&an\+Angle) \begin{DoxyCompactList}\small\item\em Constructor. \end{DoxyCompactList}\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_aca6953257290fbef4b31d1ae9ce91c8f}{Rotation\+Vector}} (const Vector3d \&an\+Axis, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371}{Angle\+::\+Unit}} \&an\+Angle\+Unit) +\begin{DoxyCompactList}\small\item\em Construct Rotation Vector from vector and angle unit The norm of the vector defines the rotation angle. \end{DoxyCompactList}\item bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a951bcc257b60ab3ec2f45e1b4eb0cb70}{operator==}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \&a\+Rotation\+Vector) const \begin{DoxyCompactList}\small\item\em Equal to operator. \end{DoxyCompactList}\item bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a1ab7d9369961e7f7e2bc9c6afb76f234}{operator!=}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \&a\+Rotation\+Vector) const \begin{DoxyCompactList}\small\item\em Not equal to operator. \end{DoxyCompactList}\item bool \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a7eb8f0bba73e0e36fa7a6f1bbd88da2d}{is\+Defined}} () const -\begin{DoxyCompactList}\small\item\em Check if rotation vector is defined. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Check if Rotation Vector is defined. \end{DoxyCompactList}\item Vector3d \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a177b242ce75f1631de02e15e50804958}{get\+Axis}} () const \begin{DoxyCompactList}\small\item\em Get rotation axis. \end{DoxyCompactList}\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ac9544a31482220e580b6ad383c888bb5}{get\+Angle}} () const \begin{DoxyCompactList}\small\item\em Get rotation angle. \end{DoxyCompactList}\item String \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a9ce94326aaddb6e9e967acc388b39f44}{to\+String}} (const Integer \&a\+Precision=Integer\+::\+Undefined()) const -\begin{DoxyCompactList}\small\item\em Convert rotation vector to its string representation. \end{DoxyCompactList}\end{DoxyCompactItemize} +\begin{DoxyCompactList}\small\item\em Convert Rotation Vector to string representation. \end{DoxyCompactList}\item +\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \& \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a02150f4e7ec88996f75eaae63b215cfb}{rectify}} () +\begin{DoxyCompactList}\small\item\em Rectify Rotation Vector (enforce positive angle) \end{DoxyCompactList}\end{DoxyCompactItemize} \doxysubsection*{Static Public Member Functions} \begin{DoxyCompactItemize} \item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ac296ba2d49497a1d7a5b1d1aa1628294}{Undefined}} () -\begin{DoxyCompactList}\small\item\em Constructs an undefined rotation vector. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct an undefined Rotation Vector. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{Unit}} () -\begin{DoxyCompactList}\small\item\em Constructs a unit rotation vector. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct a unitary Rotation Vector. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ad5a563a069f6665a086b2ba5fc20ea76}{X}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&an\+Angle) -\begin{DoxyCompactList}\small\item\em Constructs a rotation vector around X-\/axis. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct Rotation Vector around X-\/axis. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a30ecbac5afd7470bc9cb68079997fc0c}{Y}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&an\+Angle) -\begin{DoxyCompactList}\small\item\em Constructs a rotation vector around Y-\/axis. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct Rotation Vector around Y-\/axis. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a4985f992a53c3d1412a06b2ebedd4bca}{Z}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&an\+Angle) -\begin{DoxyCompactList}\small\item\em Constructs a rotation vector around Z-\/axis. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct Rotation Vector around Z-\/axis. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ae2257efa00cf6358d7135f4fb67f42c0}{Quaternion}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{rotation\+::\+Quaternion}} \&a\+Quaternion) -\begin{DoxyCompactList}\small\item\em Constructs a rotation vector from a quaternion. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Construct Rotation Vector from \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a11b732b431882d3e29d63b5b350b88bc}{Rotation\+Matrix}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{rotation\+::\+Rotation\+Matrix}} \&a\+Rotation\+Matrix) -\begin{DoxyCompactList}\small\item\em Constructs a rotation vector from a rotation matrix. \end{DoxyCompactList}\end{DoxyCompactItemize} +\begin{DoxyCompactList}\small\item\em Construct Rotation Vector from Rotation Matrix. \end{DoxyCompactList}\item +static \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_acfff1d3bbd3dc4b5998bed27cca91e7d}{Euler\+Angle}} (const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{rotation\+::\+Euler\+Angle}} \&a\+Euler\+Angle) +\begin{DoxyCompactList}\small\item\em Construct Rotation Vector from Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}}. \end{DoxyCompactList}\end{DoxyCompactItemize} \doxysubsection*{Friends} \begin{DoxyCompactItemize} \item @@ -51,7 +57,7 @@ \doxysubsection{Detailed Description} -Rotation vector. +Rotation Vector. –angle\+\_\+representation\#\+Rotation\+\_\+vector @@ -59,7 +65,7 @@ \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!RotationVector@{RotationVector}} \index{RotationVector@{RotationVector}!ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}} -\doxysubsubsection{\texorpdfstring{RotationVector()}{RotationVector()}} +\doxysubsubsection{\texorpdfstring{RotationVector()}{RotationVector()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}} {\footnotesize\ttfamily ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Rotation\+Vector\+::\+Rotation\+Vector (\begin{DoxyParamCaption}\item[{const Vector3d \&}]{an\+Axis, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \&}]{an\+Angle }\end{DoxyParamCaption})} @@ -67,15 +73,68 @@ Constructor. +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}}(\{1.0, 0.0, 0.0\}, \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(45.0));} +\end{DoxyCode} + + + \begin{DoxyParams}[1]{Parameters} \mbox{\texttt{ in}} & {\em an\+Axis} & A rotation axis \\ \hline \mbox{\texttt{ in}} & {\em an\+Angle} & A rotation angle \\ \hline \end{DoxyParams} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_aca6953257290fbef4b31d1ae9ce91c8f}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_aca6953257290fbef4b31d1ae9ce91c8f}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!RotationVector@{RotationVector}} +\index{RotationVector@{RotationVector}!ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}} +\doxysubsubsection{\texorpdfstring{RotationVector()}{RotationVector()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}} +{\footnotesize\ttfamily ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Rotation\+Vector\+::\+Rotation\+Vector (\begin{DoxyParamCaption}\item[{const Vector3d \&}]{an\+Axis, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371}{Angle\+::\+Unit}} \&}]{an\+Angle\+Unit }\end{DoxyParamCaption})} + + + +Construct Rotation Vector from vector and angle unit The norm of the vector defines the rotation angle. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}}(\{1.0, 0.0, 0.0\}, \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_a9c6a3ae1411b75a6c0cac397a6ace371a50c62e3ca8d8ec8732a7f968a3bf2c7c}{Angle::Unit::Radian}});} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+Vector} & A vector \\ +\hline +\mbox{\texttt{ in}} & {\em an\+Angle\+Unit} & An angle unit \\ +\hline +\end{DoxyParams} \doxysubsection{Member Function Documentation} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_acfff1d3bbd3dc4b5998bed27cca91e7d}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_acfff1d3bbd3dc4b5998bed27cca91e7d}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!EulerAngle@{EulerAngle}} +\index{EulerAngle@{EulerAngle}!ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}} +\doxysubsubsection{\texorpdfstring{EulerAngle()}{EulerAngle()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Rotation\+Vector\+::\+Euler\+Angle (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{rotation\+::\+Euler\+Angle}} \&}]{a\+Euler\+Angle }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}} + + + +Construct Rotation Vector from Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}}. + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_acfff1d3bbd3dc4b5998bed27cca91e7d}{RotationVector::EulerAngle}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}());} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em a\+Euler\+Angle} & A Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Rotation Vector +\end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ac9544a31482220e580b6ad383c888bb5}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ac9544a31482220e580b6ad383c888bb5}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!getAngle@{getAngle}} \index{getAngle@{getAngle}!ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}} @@ -86,6 +145,12 @@ Get rotation angle. + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ac9544a31482220e580b6ad383c888bb5}{getAngle}}();} +\end{DoxyCode} + + \begin{DoxyReturn}{Returns} Rotation angle \end{DoxyReturn} @@ -99,6 +164,12 @@ Get rotation axis. + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a177b242ce75f1631de02e15e50804958}{getAxis}}();} +\end{DoxyCode} + + \begin{DoxyReturn}{Returns} Rotation axis \end{DoxyReturn} @@ -110,16 +181,16 @@ -Check if rotation vector is defined. +Check if Rotation Vector is defined. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(0.0, 0.0, 1.0), \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(90.0)).isDefined() ; \textcolor{comment}{// True}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a7eb8f0bba73e0e36fa7a6f1bbd88da2d}{isDefined}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -True if rotation vector is defined +True if Rotation Vector is defined \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a1ab7d9369961e7f7e2bc9c6afb76f234}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a1ab7d9369961e7f7e2bc9c6afb76f234}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!operator"!=@{operator"!=}} @@ -133,18 +204,17 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(0.0, 0.0, 1.0), \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(90.0)) !=} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(1.0, 0.0, 0.0), \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(90.0)) ; \textcolor{comment}{// True}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}() != \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}();} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A rotation vector \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A Rotation Vector \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -True if rotation vectors are not equal +True if Rotation Vectors are not equal \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a951bcc257b60ab3ec2f45e1b4eb0cb70}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a951bcc257b60ab3ec2f45e1b4eb0cb70}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!operator==@{operator==}} @@ -158,18 +228,17 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(0.0, 0.0, 1.0), \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(90.0)) ==} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(0.0, 0.0, 1.0), \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(90.0)) ; \textcolor{comment}{// True}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}() == \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}();} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A rotation vector \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A Rotation Vector \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -True if rotation vectors are equal +True if Rotation Vectors are equal \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ae2257efa00cf6358d7135f4fb67f42c0}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ae2257efa00cf6358d7135f4fb67f42c0}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!Quaternion@{Quaternion}} @@ -179,12 +248,11 @@ -Constructs a rotation vector from a quaternion. +Construct Rotation Vector from \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}} rotationVector = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ae2257efa00cf6358d7135f4fb67f42c0}{RotationVector::Quaternion}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0,} -\DoxyCodeLine{0.0, 1.0)) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ae2257efa00cf6358d7135f4fb67f42c0}{RotationVector::Quaternion}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_affb9e0b77d6b66dfcfdccb17ec10d1bf}{Quaternion::Unit}}());} \end{DoxyCode} @@ -194,7 +262,26 @@ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -Rotation vector +Rotation Vector +\end{DoxyReturn} +\mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a02150f4e7ec88996f75eaae63b215cfb}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a02150f4e7ec88996f75eaae63b215cfb}} +\index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!rectify@{rectify}} +\index{rectify@{rectify}!ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}} +\doxysubsubsection{\texorpdfstring{rectify()}{rectify()}} +{\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \& ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::\+Rotation\+Vector\+::rectify (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} + + + +Rectify Rotation Vector (enforce positive angle) + + +\begin{DoxyCode}{0} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a02150f4e7ec88996f75eaae63b215cfb}{rectify}}();} +\end{DoxyCode} + + +\begin{DoxyReturn}{Returns} +Rotation Vector reference \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a11b732b431882d3e29d63b5b350b88bc}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a11b732b431882d3e29d63b5b350b88bc}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!RotationMatrix@{RotationMatrix}} @@ -204,21 +291,21 @@ -Constructs a rotation vector from a rotation matrix. +Construct Rotation Vector from Rotation Matrix. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}} rotationVector = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a11b732b431882d3e29d63b5b350b88bc}{RotationVector::RotationMatrix}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}{RotationMatrix::Unit}}()) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a11b732b431882d3e29d63b5b350b88bc}{RotationVector::RotationMatrix}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix_a54cce35b27cb061a457bf0011f1312ba}{RotationMatrix::Unit}}());} \end{DoxyCode} \begin{DoxyParams}[1]{Parameters} -\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A rotation matrix \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A Rotation Matrix \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -Rotation vector +Rotation Vector \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a9ce94326aaddb6e9e967acc388b39f44}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a9ce94326aaddb6e9e967acc388b39f44}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!toString@{toString}} @@ -228,12 +315,11 @@ -Convert rotation vector to its string representation. +Convert Rotation Vector to string representation. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(0.0, 0.0, 1.0), \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(90.0)).toString() ; \textcolor{comment}{// "[0.0,}} -\DoxyCodeLine{0.0, 1.0] : 90.0 [deg]\textcolor{stringliteral}{"}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}().\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a9ce94326aaddb6e9e967acc388b39f44}{toString}}();} \end{DoxyCode} @@ -253,16 +339,16 @@ -Constructs an undefined rotation vector. +Construct an undefined Rotation Vector. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}} rotationVector = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ac296ba2d49497a1d7a5b1d1aa1628294}{RotationVector::Undefined}}() ; \textcolor{comment}{// Undefined}} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ac296ba2d49497a1d7a5b1d1aa1628294}{RotationVector::Undefined}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Undefined rotation vector +Undefined Rotation Vector \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!Unit@{Unit}} @@ -272,16 +358,16 @@ -Constructs a unit rotation vector. +Construct a unitary Rotation Vector. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}} rotationVector = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}() ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}();} \end{DoxyCode} \begin{DoxyReturn}{Returns} -Unit rotation vector +Unitary Rotation Vector \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ad5a563a069f6665a086b2ba5fc20ea76}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ad5a563a069f6665a086b2ba5fc20ea76}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!X@{X}} @@ -291,11 +377,11 @@ -Constructs a rotation vector around X-\/axis. +Construct Rotation Vector around X-\/axis. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}} rotationVector = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ad5a563a069f6665a086b2ba5fc20ea76}{RotationVector::X}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(45.0)) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ad5a563a069f6665a086b2ba5fc20ea76}{RotationVector::X}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(45.0));} \end{DoxyCode} @@ -305,7 +391,7 @@ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -Rotation vector +Rotation Vector \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a30ecbac5afd7470bc9cb68079997fc0c}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a30ecbac5afd7470bc9cb68079997fc0c}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!Y@{Y}} @@ -315,11 +401,11 @@ -Constructs a rotation vector around Y-\/axis. +Construct Rotation Vector around Y-\/axis. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}} rotationVector = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ad5a563a069f6665a086b2ba5fc20ea76}{RotationVector::X}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(45.0)) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ad5a563a069f6665a086b2ba5fc20ea76}{RotationVector::X}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(45.0));} \end{DoxyCode} @@ -329,7 +415,7 @@ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -Rotation vector +Rotation Vector \end{DoxyReturn} \mbox{\Hypertarget{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a4985f992a53c3d1412a06b2ebedd4bca}\label{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a4985f992a53c3d1412a06b2ebedd4bca}} \index{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector@{ostk::mathematics::geometry::d3::transformation::rotation::RotationVector}!Z@{Z}} @@ -339,11 +425,11 @@ -Constructs a rotation vector around Z-\/axis. +Construct Rotation Vector around Z-\/axis. \begin{DoxyCode}{0} -\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}} rotationVector = \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ad5a563a069f6665a086b2ba5fc20ea76}{RotationVector::X}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(45.0)) ;} +\DoxyCodeLine{\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_ad5a563a069f6665a086b2ba5fc20ea76}{RotationVector::X}}(\mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(45.0));} \end{DoxyCode} @@ -353,7 +439,7 @@ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -Rotation vector +Rotation Vector \end{DoxyReturn} @@ -370,7 +456,7 @@ \begin{DoxyCode}{0} -\DoxyCodeLine{std::cout << \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a85786a4e81f7107c8367ed0ae783c79f}{RotationVector}}(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(0.0, 0.0, 1.0), \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(90.0)) ;} +\DoxyCodeLine{std::cout << \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}();} \end{DoxyCode} @@ -378,11 +464,11 @@ \begin{DoxyParams}[1]{Parameters} \mbox{\texttt{ in}} & {\em an\+Output\+Stream} & An output stream \\ \hline -\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A rotation vector \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A Rotation Vector \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -A reference to output stream +Reference to output stream \end{DoxyReturn} diff --git a/latex/classostk_1_1mathematics_1_1solver_1_1_numerical_solver.tex b/latex/classostk_1_1mathematics_1_1solver_1_1_numerical_solver.tex index aa13422a..4fcd8897 100644 --- a/latex/classostk_1_1mathematics_1_1solver_1_1_numerical_solver.tex +++ b/latex/classostk_1_1mathematics_1_1solver_1_1_numerical_solver.tex @@ -624,7 +624,7 @@ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -A reference to output stream +Output stream reference \end{DoxyReturn} diff --git a/latex/dir_1db2ca725bce6a597a50db1f9271e018.tex b/latex/dir_1db2ca725bce6a597a50db1f9271e018.tex index 7a698274..f431f653 100644 --- a/latex/dir_1db2ca725bce6a597a50db1f9271e018.tex +++ b/latex/dir_1db2ca725bce6a597a50db1f9271e018.tex @@ -3,6 +3,8 @@ \doxysubsection*{Files} \begin{DoxyCompactItemize} \item +file \mbox{\hyperlink{_euler_angle_8cpp}{Euler\+Angle.\+cpp}} +\item file \mbox{\hyperlink{_quaternion_8cpp}{Quaternion.\+cpp}} \item file \mbox{\hyperlink{_rotation_matrix_8cpp}{Rotation\+Matrix.\+cpp}} diff --git a/latex/files.tex b/latex/files.tex index 3a97f63a..6e8a1d3b 100644 --- a/latex/files.tex +++ b/latex/files.tex @@ -77,6 +77,7 @@ \item\contentsline{section}{src/\+Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Object/\mbox{\hyperlink{_ray_8cpp}{Ray.\+cpp}} }{\pageref{_ray_8cpp}}{} \item\contentsline{section}{src/\+Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Object/\mbox{\hyperlink{3_d_2_object_2_segment_8cpp}{Segment.\+cpp}} }{\pageref{3_d_2_object_2_segment_8cpp}}{} \item\contentsline{section}{src/\+Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Object/\mbox{\hyperlink{_sphere_8cpp}{Sphere.\+cpp}} }{\pageref{_sphere_8cpp}}{} +\item\contentsline{section}{src/\+Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\mbox{\hyperlink{_euler_angle_8cpp}{Euler\+Angle.\+cpp}} }{\pageref{_euler_angle_8cpp}}{} \item\contentsline{section}{src/\+Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\mbox{\hyperlink{_quaternion_8cpp}{Quaternion.\+cpp}} }{\pageref{_quaternion_8cpp}}{} \item\contentsline{section}{src/\+Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\mbox{\hyperlink{_rotation_matrix_8cpp}{Rotation\+Matrix.\+cpp}} }{\pageref{_rotation_matrix_8cpp}}{} \item\contentsline{section}{src/\+Open\+Space\+Toolkit/\+Mathematics/\+Geometry/3\+D/\+Transformation/\+Rotation/\mbox{\hyperlink{_rotation_vector_8cpp}{Rotation\+Vector.\+cpp}} }{\pageref{_rotation_vector_8cpp}}{} diff --git a/latex/hierarchy.tex b/latex/hierarchy.tex index 88d3661e..69ffd40d 100644 --- a/latex/hierarchy.tex +++ b/latex/hierarchy.tex @@ -1,6 +1,7 @@ \doxysection{Class Hierarchy} This inheritance list is sorted roughly, but not completely, alphabetically\+:\begin{DoxyCompactList} \item \contentsline{section}{ostk\+::mathematics\+::geometry\+::Angle}{\pageref{classostk_1_1mathematics_1_1geometry_1_1_angle}}{} +\item \contentsline{section}{ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::Euler\+Angle}{\pageref{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}}{} \item \contentsline{section}{ostk\+::mathematics\+::geometry\+::d2\+::object\+::Point\+Set\+::Hasher}{\pageref{structostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point_set_1_1_hasher}}{} \item \contentsline{section}{ostk\+::mathematics\+::geometry\+::d3\+::object\+::Point\+Set\+::Hasher}{\pageref{structostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point_set_1_1_hasher}}{} \item \contentsline{section}{ostk\+::mathematics\+::curvefitting\+::Interpolator}{\pageref{classostk_1_1mathematics_1_1curvefitting_1_1_interpolator}}{} diff --git a/latex/namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation.tex b/latex/namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation.tex index fbe3fbec..cfd4553a 100644 --- a/latex/namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation.tex +++ b/latex/namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation.tex @@ -3,15 +3,19 @@ \doxysubsection*{Classes} \begin{DoxyCompactItemize} \item +class \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} +\begin{DoxyCompactList}\small\item\em Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} (intrinsic rotation) \end{DoxyCompactList}\item class \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}}. \end{DoxyCompactList}\item class \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \begin{DoxyCompactList}\small\item\em Rotation matrix. \end{DoxyCompactList}\item class \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} -\begin{DoxyCompactList}\small\item\em Rotation vector. \end{DoxyCompactList}\end{DoxyCompactItemize} +\begin{DoxyCompactList}\small\item\em Rotation Vector. \end{DoxyCompactList}\end{DoxyCompactItemize} \doxysubsection*{Functions} \begin{DoxyCompactItemize} \item +std\+::ostream \& \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_a4039583c5e12d44db90af36b8420cffd}{operator$<$$<$}} (std\+::ostream \&an\+Output\+Stream, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \&a\+Euler\+Angle) +\item \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_a6028c92c3bd330713db8cab7bc5122e1}{operator$\ast$}} (const Real \&a\+Scalar, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) \item std\+::ostream \& \mbox{\hyperlink{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_ae26404779f77ca73c95975806e5402d1}{operator$<$$<$}} (std\+::ostream \&an\+Output\+Stream, const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&a\+Quaternion) @@ -29,7 +33,7 @@ \doxysubsubsection{\texorpdfstring{operator$\ast$()}{operator*()}} {\footnotesize\ttfamily \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::operator$\ast$ (\begin{DoxyParamCaption}\item[{const Real \&}]{a\+Scalar, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&}]{a\+Quaternion }\end{DoxyParamCaption})} -Example\+: + \begin{DoxyCode}{0} \DoxyCodeLine{Real scalar = ... ;} \DoxyCodeLine{Quaternion q\_1 = ... ;} @@ -41,21 +45,43 @@ \begin{DoxyParams}[1]{Parameters} \mbox{\texttt{ in}} & {\em a\+Scalar} & A scalar \\ \hline -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \end{DoxyReturn} +\mbox{\Hypertarget{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_a4039583c5e12d44db90af36b8420cffd}\label{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_a4039583c5e12d44db90af36b8420cffd}} +\index{ostk::mathematics::geometry::d3::transformation::rotation@{ostk::mathematics::geometry::d3::transformation::rotation}!operator$<$$<$@{operator$<$$<$}} +\index{operator$<$$<$@{operator$<$$<$}!ostk::mathematics::geometry::d3::transformation::rotation@{ostk::mathematics::geometry::d3::transformation::rotation}} +\doxysubsubsection{\texorpdfstring{operator$<$$<$()}{operator<<()}\hspace{0.1cm}{\footnotesize\ttfamily [1/4]}} +{\footnotesize\ttfamily std\+::ostream\& ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::operator$<$$<$ (\begin{DoxyParamCaption}\item[{std\+::ostream \&}]{an\+Output\+Stream, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle}{Euler\+Angle}} \&}]{a\+Euler\+Angle }\end{DoxyParamCaption})} + + +\begin{DoxyCode}{0} +\DoxyCodeLine{std::cout << \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle_a970d830a551e4596701281e2cf0a1899}{EulerAngle::Unit}}();} +\end{DoxyCode} + + + +\begin{DoxyParams}[1]{Parameters} +\mbox{\texttt{ in}} & {\em an\+Output\+Stream} & An output stream \\ +\hline +\mbox{\texttt{ in}} & {\em a\+Euler\+Angle} & A Euler \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle}{Angle}} \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Output stream reference +\end{DoxyReturn} \mbox{\Hypertarget{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_ae26404779f77ca73c95975806e5402d1}\label{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_ae26404779f77ca73c95975806e5402d1}} \index{ostk::mathematics::geometry::d3::transformation::rotation@{ostk::mathematics::geometry::d3::transformation::rotation}!operator$<$$<$@{operator$<$$<$}} \index{operator$<$$<$@{operator$<$$<$}!ostk::mathematics::geometry::d3::transformation::rotation@{ostk::mathematics::geometry::d3::transformation::rotation}} -\doxysubsubsection{\texorpdfstring{operator$<$$<$()}{operator<<()}\hspace{0.1cm}{\footnotesize\ttfamily [1/3]}} +\doxysubsubsection{\texorpdfstring{operator$<$$<$()}{operator<<()}\hspace{0.1cm}{\footnotesize\ttfamily [2/4]}} {\footnotesize\ttfamily std\+::ostream\& ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::operator$<$$<$ (\begin{DoxyParamCaption}\item[{std\+::ostream \&}]{an\+Output\+Stream, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \&}]{a\+Quaternion }\end{DoxyParamCaption})} \begin{DoxyCode}{0} -\DoxyCodeLine{std::cout << \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0) ;} +\DoxyCodeLine{std::cout << \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion_ab065862f2a77807e42f6feaadc0637e2}{Quaternion::XYZS}}(0.0, 0.0, 0.0, 1.0);} \end{DoxyCode} @@ -63,21 +89,21 @@ \begin{DoxyParams}[1]{Parameters} \mbox{\texttt{ in}} & {\em an\+Output\+Stream} & An output stream \\ \hline -\mbox{\texttt{ in}} & {\em a\+Quaternion} & A quaternion \\ +\mbox{\texttt{ in}} & {\em a\+Quaternion} & A \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_quaternion}{Quaternion}} \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -A reference to output stream +Output stream reference \end{DoxyReturn} \mbox{\Hypertarget{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_afa8bc95840d3ed51eb2c9726bbd52f23}\label{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_afa8bc95840d3ed51eb2c9726bbd52f23}} \index{ostk::mathematics::geometry::d3::transformation::rotation@{ostk::mathematics::geometry::d3::transformation::rotation}!operator$<$$<$@{operator$<$$<$}} \index{operator$<$$<$@{operator$<$$<$}!ostk::mathematics::geometry::d3::transformation::rotation@{ostk::mathematics::geometry::d3::transformation::rotation}} -\doxysubsubsection{\texorpdfstring{operator$<$$<$()}{operator<<()}\hspace{0.1cm}{\footnotesize\ttfamily [2/3]}} +\doxysubsubsection{\texorpdfstring{operator$<$$<$()}{operator<<()}\hspace{0.1cm}{\footnotesize\ttfamily [3/4]}} {\footnotesize\ttfamily std\+::ostream\& ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::operator$<$$<$ (\begin{DoxyParamCaption}\item[{std\+::ostream \&}]{an\+Output\+Stream, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix}{Rotation\+Matrix}} \&}]{a\+Rotation\+Matrix }\end{DoxyParamCaption})} \begin{DoxyCode}{0} -\DoxyCodeLine{std::cout << RotationMatrix(...) ;} +\DoxyCodeLine{std::cout << RotationMatrix(...);} \end{DoxyCode} @@ -85,21 +111,21 @@ \begin{DoxyParams}[1]{Parameters} \mbox{\texttt{ in}} & {\em an\+Output\+Stream} & An output stream \\ \hline -\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A rotation matrix \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Matrix} & A Rotation Matrix \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -A reference to output stream +Output stream reference \end{DoxyReturn} \mbox{\Hypertarget{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_a89b141f8b9cd2a93dbd9b584bab23d5b}\label{namespaceostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_a89b141f8b9cd2a93dbd9b584bab23d5b}} \index{ostk::mathematics::geometry::d3::transformation::rotation@{ostk::mathematics::geometry::d3::transformation::rotation}!operator$<$$<$@{operator$<$$<$}} \index{operator$<$$<$@{operator$<$$<$}!ostk::mathematics::geometry::d3::transformation::rotation@{ostk::mathematics::geometry::d3::transformation::rotation}} -\doxysubsubsection{\texorpdfstring{operator$<$$<$()}{operator<<()}\hspace{0.1cm}{\footnotesize\ttfamily [3/3]}} +\doxysubsubsection{\texorpdfstring{operator$<$$<$()}{operator<<()}\hspace{0.1cm}{\footnotesize\ttfamily [4/4]}} {\footnotesize\ttfamily std\+::ostream\& ostk\+::mathematics\+::geometry\+::d3\+::transformation\+::rotation\+::operator$<$$<$ (\begin{DoxyParamCaption}\item[{std\+::ostream \&}]{an\+Output\+Stream, }\item[{const \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector}{Rotation\+Vector}} \&}]{a\+Rotation\+Vector }\end{DoxyParamCaption})} \begin{DoxyCode}{0} -\DoxyCodeLine{std::cout << RotationVector(\mbox{\hyperlink{namespaceostk_1_1mathematics_1_1object_a69d9a055814e9440af219eff448c6c23}{Vector3d}}(0.0, 0.0, 1.0), \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1_angle_adf219273c9f6215c4a47a5530e0a3aa3}{Angle::Degrees}}(90.0)) ;} +\DoxyCodeLine{std::cout << \mbox{\hyperlink{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector_a31c276c930ed9d5ff4cb406be6a48f7e}{RotationVector::Unit}}();} \end{DoxyCode} @@ -107,9 +133,9 @@ \begin{DoxyParams}[1]{Parameters} \mbox{\texttt{ in}} & {\em an\+Output\+Stream} & An output stream \\ \hline -\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A rotation vector \\ +\mbox{\texttt{ in}} & {\em a\+Rotation\+Vector} & A Rotation Vector \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -A reference to output stream +Reference to output stream \end{DoxyReturn} diff --git a/latex/namespaceostk_1_1mathematics_1_1solver.tex b/latex/namespaceostk_1_1mathematics_1_1solver.tex index 04cd3bd3..e01b08fd 100644 --- a/latex/namespaceostk_1_1mathematics_1_1solver.tex +++ b/latex/namespaceostk_1_1mathematics_1_1solver.tex @@ -65,5 +65,5 @@ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -A reference to output stream +Output stream reference \end{DoxyReturn} diff --git a/latex/refman.tex b/latex/refman.tex index 34202491..7610d288 100644 --- a/latex/refman.tex +++ b/latex/refman.tex @@ -158,7 +158,7 @@ \begin{titlepage} \vspace*{7cm} \begin{center}% -{\Large Open\+Space\+Toolkit\+Mathematics \\[1ex]\large 3.\+0.\+2 }\\ +{\Large Open\+Space\+Toolkit\+Mathematics \\[1ex]\large 3.\+1.\+0 }\\ \vspace*{1cm} {\large Generated by Doxygen 1.8.17}\\ \end{center} @@ -212,6 +212,7 @@ \chapter{Class Documentation} \input{classostk_1_1mathematics_1_1curvefitting_1_1interpolator_1_1_cubic_spline} \input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_cuboid} \input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_ellipsoid} +\input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_euler_angle} \input{structostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point_set_1_1_hasher} \input{structostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point_set_1_1_hasher} \input{classostk_1_1mathematics_1_1curvefitting_1_1_interpolator} @@ -232,8 +233,8 @@ \chapter{Class Documentation} \input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_plane} \input{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point} \input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point} -\input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point_set} \input{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_point_set} +\input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_point_set} \input{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_polygon} \input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_polygon} \input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_pyramid} @@ -241,8 +242,8 @@ \chapter{Class Documentation} \input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_ray} \input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_matrix} \input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1transformation_1_1rotation_1_1_rotation_vector} -\input{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_segment} \input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_segment} +\input{classostk_1_1mathematics_1_1geometry_1_1d2_1_1object_1_1_segment} \input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1object_1_1_sphere} \input{classostk_1_1mathematics_1_1geometry_1_1d3_1_1_transformation} \input{classostk_1_1mathematics_1_1geometry_1_1d2_1_1_transformation} @@ -326,6 +327,7 @@ \chapter{File Documentation} \input{_pyramid_8cpp} \input{_ray_8cpp} \input{_sphere_8cpp} +\input{_euler_angle_8cpp} \input{_quaternion_8cpp} \input{_rotation_matrix_8cpp} \input{_rotation_vector_8cpp}