ERC CISST - cisst software

---

vctAxisAngleRotation3< _elementType > Class Template Reference
[Vectors]

#include <vctAxisAngleRotation3.h>

Collaboration diagram for vctAxisAngleRotation3< _elementType >:

[legend]List of all members.

---

Detailed Description

template<class _elementType>
class vctAxisAngleRotation3< _elementType >

Define a rotation based on an axis and an angle for a space of dimension 3.

This class is templated by the element type. It contains a fixed size vector and an angle.

Parameters:

_elementType

The type of elements.

See also:

vctQuaternion

Definition at line 95 of file vctAxisAngleRotation3.h.

Public Types

• enum
• typedef vctAxisAngleRotation3<
  value_type > ThisType
• typedef vctFixedSizeVector<
  value_type, DIMENSION > AxisType
• typedef cmnTypeTraits< _elementType > TypeTraits

Public Member Functions

• vctAxisAngleRotation3 ()
• ThisType & Assign (const ThisType &other)
• const AxisType & Axis (void) const
• AxisType & Axis (void)
• const AngleType & Angle (void) const
• AngleType & Angle (void)
• ThisType & InverseSelf (void)
• ThisType & InverseOf (const ThisType &otherRotation)
• ThisType Inverse (void) const
• ThisType & NormalizedSelf (void)
• ThisType & NormalizedOf (const ThisType &otherRotation)
• ThisType Normalized (void) const
• bool IsNormalized (value_type tolerance=TypeTraits::Tolerance()) const
• bool AlmostEqual (const ThisType &other, value_type tolerance=TypeTraits::Tolerance()) const
• bool AlmostEquivalent (const ThisType &other, value_type tolerance=TypeTraits::Tolerance()) const
• std::string ToString (void) const
• void ToStream (std::ostream &outputStream) const
• void ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const
• void SerializeRaw (std::ostream &outputStream) const
• void DeSerializeRaw (std::istream &inputStream)

Conversion from normalized input.

These methods will check that the input is normalized. If the input is not normalized, an exception (std::runtime_error) will be thrown using cmnThrow().

Note:

Since all exceptions are thrown using cmnThrow(), it is possible to configure these methods to use abort() if the normalization requirements are not met (see cmnThrow()).

• template<stride_type __stride, class __dataPtrType> ThisType & From (const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &axis, const AngleType angle) throw (std::runtime_error)
• template<class _vectorOwnerType> ThisType & From (const vctDynamicConstVectorBase< _vectorOwnerType, value_type > &axis, AngleType angle) throw (std::runtime_error)
• template<class _containerType> ThisType & From (const vctQuaternionRotation3Base< _containerType > &quaternionRotation) throw (std::runtime_error)
• template<class _containerType> ThisType & From (const vctMatrixRotation3Base< _containerType > &matrixRotation) throw (std::runtime_error)
• template<class _containerType> ThisType & From (const vctRodriguezRotation3Base< _containerType > &rodriguezRotation) throw (std::runtime_error)

Conversion and normalization.

These method will accept any input and attempt to either normalize the input and then convert or convert and then normalize the quaternion itself.
The order depends on the type of input.

• template<stride_type __stride, class __dataPtrType> ThisType & FromNormalized (const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &axis, const AngleType angle)
• template<class _containerType> ThisType & FromNormalized (const vctQuaternionRotation3Base< _containerType > &quaternionRotation)
• template<class _containerType> ThisType & FromNormalized (const vctMatrixRotation3Base< _containerType > &matrixRotation)
• template<class _containerType> ThisType & FromNormalized (const vctRodriguezRotation3Base< _containerType > &rodriguezRotation)

Conversion.

These method don't check if the input is normalized nor try to normalize the results. They should be used with caution since the resulting rotation (in this case a quaternion) might not be normalized.

• template<stride_type __stride, class __dataPtrType> ThisType & FromRaw (const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &axis, const AngleType angle)
• template<class _containerType> ThisType & FromRaw (const vctQuaternionRotation3Base< _containerType > &quaternionRotation)
• template<class _containerType> ThisType & FromRaw (const vctMatrixRotation3Base< _containerType > &matrixRotation)
• template<class _containerType> ThisType & FromRaw (const vctRodriguezRotation3Base< _containerType > &rodriguezRotation)

• bool Equal (const ThisType &other) const
• bool operator== (const ThisType &other) const

Static Public Member Functions

• static CISST_EXPORT const
  ThisType & Identity ()

Public Attributes

• _elementType

Protected Member Functions

• void ThrowUnlessIsNormalized (void) const throw (std::runtime_error)
• template<class _inputType> void ThrowUnlessIsNormalized (const _inputType &input) const throw (std::runtime_error)

Protected Attributes

• AxisType AxisMember
• AngleType AngleMember

---

Constructor & Destructor Documentation

template<class _elementType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3

(

)

[inline]

Default constructor. Sets the axis to (1, 0, 0) and the angle to zero.

Definition at line 131 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<stride_type __stride, class __dataPtrType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &	axis,
		const AngleType	angle
	)			throw (std::runtime_error) [inline]

Constructor from an axis and an angle.

Parameters:

	axis	A unit vector of size 3.
	angle	The angle in radian

Definition at line 165 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _vectorOwnerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctDynamicConstVectorBase< _vectorOwnerType, value_type > &	axis,
		AngleType	angle
	)			throw (std::runtime_error) [inline]

Constructor from an axis and an angle.

Parameters:

	axis	A unit vector of size 3.
	angle	The angle in radian

Definition at line 177 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3

(

const vctQuaternionRotation3Base< _containerType > &

quaternionRotation

)

throw (std::runtime_error) [inline]

Constructor from a vctQuaternionRotation3.

Definition at line 186 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3

(

const vctMatrixRotation3Base< _containerType > &

matrixRotation

)

throw (std::runtime_error) [inline]

Constructor from a vctMatrixRotation3.

Definition at line 194 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3

(

const vctRodriguezRotation3Base< _containerType > &

rodriguezRotation

)

throw (std::runtime_error) [inline]

Constructor from a vctRodriguezRotation3.

Definition at line 202 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<stride_type __stride, class __dataPtrType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &	axis,
		const AngleType	angle,
		bool	normalizeInput
	)			[inline]

Constructor from an axis and an angle.

Parameters:

	axis	A vector of size 3.
	angle	The angle in radian
	normalizeInput	Normalize the input or convert as is (VCT_NORMALIZE or VCT_DO_NOT_NORMALIZE)

Definition at line 239 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _vectorOwnerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctDynamicConstVectorBase< _vectorOwnerType, value_type > &	axis,
		AngleType	angle,
		bool	normalizeInput
	)			[inline]

Constructor from an axis and an angle.

Parameters:

	axis	A vector of size 3.
	angle	The angle in radian
	normalizeInput	Normalize the input or convert as is (VCT_NORMALIZE or VCT_DO_NOT_NORMALIZE)

Definition at line 256 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctQuaternionRotation3Base< _containerType > &	quaternionRotation,
		bool	normalizeInput
	)			[inline]

Constructor from a vctQuaternionRotation3.

Definition at line 269 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctMatrixRotation3Base< _containerType > &	matrixRotation,
		bool	normalizeInput
	)			[inline]

Constructor from a vctMatrixRotation3.

Definition at line 281 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctRodriguezRotation3Base< _containerType > &	rodriguezRotation,
		bool	normalizeInput
	)			[inline]

Constructor from a vctRodriguezRotation3.

Definition at line 293 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<stride_type __stride, class __dataPtrType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &	axis,
		const AngleType	angle
	)			throw (std::runtime_error) [inline]

Constructor from an axis and an angle.

Parameters:

	axis	A unit vector of size 3.
	angle	The angle in radian

Definition at line 165 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _vectorOwnerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctDynamicConstVectorBase< _vectorOwnerType, value_type > &	axis,
		AngleType	angle
	)			throw (std::runtime_error) [inline]

Constructor from an axis and an angle.

Parameters:

	axis	A unit vector of size 3.
	angle	The angle in radian

Definition at line 177 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3

(

const vctQuaternionRotation3Base< _containerType > &

quaternionRotation

)

throw (std::runtime_error) [inline]

Constructor from a vctQuaternionRotation3.

Definition at line 186 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3

(

const vctMatrixRotation3Base< _containerType > &

matrixRotation

)

throw (std::runtime_error) [inline]

Constructor from a vctMatrixRotation3.

Definition at line 194 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3

(

const vctRodriguezRotation3Base< _containerType > &

rodriguezRotation

)

throw (std::runtime_error) [inline]

Constructor from a vctRodriguezRotation3.

Definition at line 202 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<stride_type __stride, class __dataPtrType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &	axis,
		const AngleType	angle,
		bool	normalizeInput
	)			[inline]

Constructor from an axis and an angle.

Parameters:

	axis	A vector of size 3.
	angle	The angle in radian
	normalizeInput	Normalize the input or convert as is (VCT_NORMALIZE or VCT_DO_NOT_NORMALIZE)

Definition at line 239 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _vectorOwnerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctDynamicConstVectorBase< _vectorOwnerType, value_type > &	axis,
		AngleType	angle,
		bool	normalizeInput
	)			[inline]

Constructor from an axis and an angle.

Parameters:

	axis	A vector of size 3.
	angle	The angle in radian
	normalizeInput	Normalize the input or convert as is (VCT_NORMALIZE or VCT_DO_NOT_NORMALIZE)

Definition at line 256 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctQuaternionRotation3Base< _containerType > &	quaternionRotation,
		bool	normalizeInput
	)			[inline]

Constructor from a vctQuaternionRotation3.

Definition at line 269 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctMatrixRotation3Base< _containerType > &	matrixRotation,
		bool	normalizeInput
	)			[inline]

Constructor from a vctMatrixRotation3.

Definition at line 281 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

vctAxisAngleRotation3< _elementType >::vctAxisAngleRotation3	(	const vctRodriguezRotation3Base< _containerType > &	rodriguezRotation,
		bool	normalizeInput
	)			[inline]

Constructor from a vctRodriguezRotation3.

Definition at line 293 of file vctAxisAngleRotation3.h.

---

Member Function Documentation

template<class _elementType>

void vctAxisAngleRotation3< _elementType >::ThrowUnlessIsNormalized

(

void

)

const throw (std::runtime_error) [inline, protected]

Throw an exception unless this rotation is normalized.

Definition at line 111 of file vctAxisAngleRotation3.h.

References cmnThrow().

template<class _elementType>

template<class _inputType>

void vctAxisAngleRotation3< _elementType >::ThrowUnlessIsNormalized

(

const _inputType &

input

)

const throw (std::runtime_error) [inline, protected]

Throw an exception unless the input is normalized.

Parameters:

input

An object with IsNormalized method.

Definition at line 122 of file vctAxisAngleRotation3.h.

References cmnThrow().

template<class _elementType>

ThisType& vctAxisAngleRotation3< _elementType >::Assign

(

const ThisType &

other

)

[inline]

Assignement method. This method doesn't perform any test on the input.

Definition at line 138 of file vctAxisAngleRotation3.h.

References vctAxisAngleRotation3< _elementType >::Angle(), vctFixedSizeVectorBase< _size, _stride, _elementType, _dataPtrType >::Assign(), and vctAxisAngleRotation3< _elementType >::Axis().

template<class _elementType>

static CISST_EXPORT const ThisType& vctAxisAngleRotation3< _elementType >::Identity

(

)

[static]

Const reference to the identity. In this case, the axis is set to (1, 0, 0) and the angle is set to zero.

template<class _elementType>

const AxisType& vctAxisAngleRotation3< _elementType >::Axis

(

void

)

const [inline]

Const reference to the rotation axis data member.

Definition at line 312 of file vctAxisAngleRotation3.h.

Referenced by vctAxisAngleRotation3< _elementType >::AlmostEqual(), vctAxisAngleRotation3< _elementType >::AlmostEquivalent(), vctAxisAngleRotation3< _elementType >::Assign(), vctAxisAngleRotation3< _elementType >::Equal(), vctRodriguezRotation3Base< vctFixedSizeVector< _elementType, 3 > >::FromRaw(), vctQuaternionRotation3Base< vctFixedSizeVector< double, 4 > >::FromRaw(), vctAxisAngleRotation3< _elementType >::InverseOf(), and vctAxisAngleRotation3< _elementType >::NormalizedOf().

template<class _elementType>

AxisType& vctAxisAngleRotation3< _elementType >::Axis

(

void

)

[inline]

Reference to the rotation axis data member.

Definition at line 317 of file vctAxisAngleRotation3.h.

template<class _elementType>

const AngleType& vctAxisAngleRotation3< _elementType >::Angle

(

void

)

const [inline]

Const reference to the rotation angle data member (in radians).

Definition at line 322 of file vctAxisAngleRotation3.h.

Referenced by vctAxisAngleRotation3< _elementType >::AlmostEqual(), vctAxisAngleRotation3< _elementType >::AlmostEquivalent(), vctAxisAngleRotation3< _elementType >::Assign(), vctAxisAngleRotation3< _elementType >::Equal(), vctRodriguezRotation3Base< vctFixedSizeVector< _elementType, 3 > >::FromRaw(), vctQuaternionRotation3Base< vctFixedSizeVector< double, 4 > >::FromRaw(), vctAxisAngleRotation3< _elementType >::Inverse(), vctAxisAngleRotation3< _elementType >::InverseOf(), and vctAxisAngleRotation3< _elementType >::NormalizedOf().

template<class _elementType>

AngleType& vctAxisAngleRotation3< _elementType >::Angle

(

void

)

[inline]

Reference to the rotation angle data member (in radians).

Definition at line 327 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<stride_type __stride, class __dataPtrType>

ThisType& vctAxisAngleRotation3< _elementType >::From	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &	axis,
		const AngleType	angle
	)			throw (std::runtime_error) [inline]

Conversion from an angle and an axis.

Definition at line 348 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _vectorOwnerType>

ThisType& vctAxisAngleRotation3< _elementType >::From	(	const vctDynamicConstVectorBase< _vectorOwnerType, value_type > &	axis,
		AngleType	angle
	)			throw (std::runtime_error) [inline]

Conversion from an angle and an axis.

Definition at line 359 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

ThisType& vctAxisAngleRotation3< _elementType >::From

(

const vctQuaternionRotation3Base< _containerType > &

quaternionRotation

)

throw (std::runtime_error) [inline]

Conversion from a vctQuaternionRotation3.

Definition at line 373 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

ThisType& vctAxisAngleRotation3< _elementType >::From

(

const vctMatrixRotation3Base< _containerType > &

matrixRotation

)

throw (std::runtime_error) [inline]

Conversion from a vctMatrixRotation3.

Definition at line 382 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

ThisType& vctAxisAngleRotation3< _elementType >::From

(

const vctRodriguezRotation3Base< _containerType > &

rodriguezRotation

)

throw (std::runtime_error) [inline]

Conversion from a vctRodriguezRotation3.

Definition at line 391 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<stride_type __stride, class __dataPtrType>

ThisType& vctAxisAngleRotation3< _elementType >::FromNormalized	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &	axis,
		const AngleType	angle
	)			[inline]

Conversion from an axis and an angle.

Definition at line 414 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

ThisType& vctAxisAngleRotation3< _elementType >::FromNormalized

(

const vctQuaternionRotation3Base< _containerType > &

quaternionRotation

)

[inline]

Conversion from an axis and an angle.

Definition at line 424 of file vctAxisAngleRotation3.h.

References vctQuaternionRotation3Base< _containerType >::Normalized().

template<class _elementType>

template<class _containerType>

ThisType& vctAxisAngleRotation3< _elementType >::FromNormalized

(

const vctMatrixRotation3Base< _containerType > &

matrixRotation

)

[inline]

Conversion from a vctMatrixRotation3.

Definition at line 430 of file vctAxisAngleRotation3.h.

References vctMatrixRotation3ConstBase< _containerType >::Normalized().

template<class _elementType>

template<class _containerType>

ThisType& vctAxisAngleRotation3< _elementType >::FromNormalized

(

const vctRodriguezRotation3Base< _containerType > &

rodriguezRotation

)

[inline]

Conversion from a vctRodriguezRotation3.

Definition at line 436 of file vctAxisAngleRotation3.h.

References vctRodriguezRotation3Base< _containerType >::Normalized().

template<class _elementType>

template<stride_type __stride, class __dataPtrType>

ThisType& vctAxisAngleRotation3< _elementType >::FromRaw	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &	axis,
		const AngleType	angle
	)			[inline]

Conversion from an axis and an angle.

Definition at line 455 of file vctAxisAngleRotation3.h.

References vctFixedSizeVectorBase< _size, _stride, _elementType, _dataPtrType >::Assign().

template<class _elementType>

template<class _containerType>

ThisType& vctAxisAngleRotation3< _elementType >::FromRaw

(

const vctQuaternionRotation3Base< _containerType > &

quaternionRotation

)

[inline]

Conversion from a vctQuaternionRotation3.

Definition at line 465 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

ThisType& vctAxisAngleRotation3< _elementType >::FromRaw

(

const vctMatrixRotation3Base< _containerType > &

matrixRotation

)

[inline]

Conversion from a vctMatrixRotation3.

Definition at line 472 of file vctAxisAngleRotation3.h.

template<class _elementType>

template<class _containerType>

ThisType& vctAxisAngleRotation3< _elementType >::FromRaw

(

const vctRodriguezRotation3Base< _containerType > &

rodriguezRotation

)

[inline]

Conversion from a vctRodriguezRotation3.

Definition at line 479 of file vctAxisAngleRotation3.h.

template<class _elementType>

ThisType& vctAxisAngleRotation3< _elementType >::InverseSelf

(

void

)

[inline]

Inverse this axis angle rotation. This methods assumes that the axis is normalized and the angle is betweem 0 and 2 * PI. The axis is not changed but the angle is set to 2 * PI minus the previous value.

Definition at line 491 of file vctAxisAngleRotation3.h.

References cmnPI.

template<class _elementType>

ThisType& vctAxisAngleRotation3< _elementType >::InverseOf

(

const ThisType &

otherRotation

)

[inline]

Set this rotation as the inverse of another one. See also InverseSelf().

Definition at line 498 of file vctAxisAngleRotation3.h.

References vctAxisAngleRotation3< _elementType >::Angle(), vctFixedSizeVectorBase< _size, _stride, _elementType, _dataPtrType >::Assign(), vctAxisAngleRotation3< _elementType >::Axis(), and cmnPI.

template<class _elementType>

ThisType vctAxisAngleRotation3< _elementType >::Inverse

(

void

)

const [inline]

Create and return by copy the inverse of this rotation. This method is not the most efficient since it requires a copy. See also InverseSelf().

Definition at line 507 of file vctAxisAngleRotation3.h.

References vctAxisAngleRotation3< _elementType >::Angle(), and cmnPI.

template<class _elementType>

ThisType& vctAxisAngleRotation3< _elementType >::NormalizedSelf

(

void

)

[inline]

Normalizes this rotation. This method first normalizes the axis and then modifies the angle so that it's value is between 0 and 2 * PI.

Definition at line 516 of file vctAxisAngleRotation3.h.

References cmnPI, and vctFixedSizeVectorBase< _size, _stride, _elementType, _dataPtrType >::NormalizedSelf().

Referenced by vctAxisAngleRotation3< _elementType >::Normalized().

template<class _elementType>

ThisType& vctAxisAngleRotation3< _elementType >::NormalizedOf

(

const ThisType &

otherRotation

)

[inline]

Sets this rotation as the normalized version of another one.

Parameters:

otherRotation

Axis angle rotation used to compute the normalized rotation.

Definition at line 530 of file vctAxisAngleRotation3.h.

References vctAxisAngleRotation3< _elementType >::Angle(), vctFixedSizeVectorBase< _size, _stride, _elementType, _dataPtrType >::Assign(), and vctAxisAngleRotation3< _elementType >::Axis().

template<class _elementType>

ThisType vctAxisAngleRotation3< _elementType >::Normalized

(

void

)

const [inline]

Returns the normalized version of this rotation. This method returns a copy of the normalized rotation and does not modify this rotation. See also NormalizedSelf().

Definition at line 540 of file vctAxisAngleRotation3.h.

References vctAxisAngleRotation3< _elementType >::NormalizedSelf().

Referenced by vctRodriguezRotation3Base< vctFixedSizeVector< _elementType, 3 > >::FromNormalized(), vctQuaternionRotation3Base< vctFixedSizeVector< double, 4 > >::FromNormalized(), and vctMatrixRotation3Base< vctFixedSizeMatrix< double, 3, 3, _rowMajor > >::FromNormalized().

template<class _elementType>

bool vctAxisAngleRotation3< _elementType >::IsNormalized

(

value_type

tolerance = TypeTraits::Tolerance()

)

const [inline]

Test if this rotation is normalized. This methods checks that the axis is normalized (with tolerance). Any angle is considered valid.

Parameters:

tolerance

Tolerance for the norm test.

Definition at line 552 of file vctAxisAngleRotation3.h.

References vctFixedSizeConstVectorBase< _size, _stride, _elementType, _dataPtrType >::IsNormalized().

template<class _elementType>

bool vctAxisAngleRotation3< _elementType >::Equal

(

const ThisType &

other

)

const [inline]

Return true if this rotation is exactly equal to the other rotation, without any tolerance error. Rotations may be effectively equal if one is elementwise equal to the other.

See also:

AlmostEqual

Definition at line 564 of file vctAxisAngleRotation3.h.

References vctAxisAngleRotation3< _elementType >::Angle(), and vctAxisAngleRotation3< _elementType >::Axis().

template<class _elementType>

bool vctAxisAngleRotation3< _elementType >::operator==

(

const ThisType &

other

)

const [inline]

Return true if this rotation is exactly equal to the other rotation, without any tolerance error. Rotations may be effectively equal if one is elementwise equal to the other.

See also:

AlmostEqual

Definition at line 568 of file vctAxisAngleRotation3.h.

template<class _elementType>

bool vctAxisAngleRotation3< _elementType >::AlmostEqual	(	const ThisType &	other,
		value_type	tolerance = TypeTraits::Tolerance()
	)			const [inline]

Return true if this rotation is effectively equal to the other rotation, up to the given tolerance. Rotations may be effectively equal if one is elementwise equal to the other.

The tolerance factor is used to compare each of the elements of the difference vector.

See also:

AlmostEquivalent

Definition at line 583 of file vctAxisAngleRotation3.h.

References vctAxisAngleRotation3< _elementType >::Angle(), and vctAxisAngleRotation3< _elementType >::Axis().

template<class _elementType>

bool vctAxisAngleRotation3< _elementType >::AlmostEquivalent	(	const ThisType &	other,
		value_type	tolerance = TypeTraits::Tolerance()
	)			const [inline]

Return true if this rotation is effectively equavilent to the other rotation, up to the given tolerance. Rotation may be effectively equivalent if their axis are aligned and their angles are equal, modulus 2 PI (take into account the direction of the axis).

The tolerance factor is used to compare each of the elements of the difference vector.

See also:

AlmostEqual

Definition at line 603 of file vctAxisAngleRotation3.h.

References vctAxisAngleRotation3< _elementType >::Angle(), vctAxisAngleRotation3< _elementType >::Axis(), cmnPI, and vctFixedSizeConstVectorBase< _size, _stride, _elementType, _dataPtrType >::Normalized().

template<class _elementType>

void vctAxisAngleRotation3< _elementType >::ToStream

(

std::ostream &

outputStream

)

const [inline]

Print the matrix in a human readable format

Definition at line 646 of file vctAxisAngleRotation3.h.

Referenced by operator<<().

template<class _elementType>

void vctAxisAngleRotation3< _elementType >::ToStreamRaw	(	std::ostream &	outputStream,
		const char	delimiter = ' ',
		bool	headerOnly = false,
		const std::string &	headerPrefix = ""
	)			const [inline]

Print in machine processable format

Definition at line 657 of file vctAxisAngleRotation3.h.

template<class _elementType>

void vctAxisAngleRotation3< _elementType >::SerializeRaw

(

std::ostream &

outputStream

)

const [inline]

Binary serialization

Definition at line 669 of file vctAxisAngleRotation3.h.

References cmnSerializeRaw().

template<class _elementType>

void vctAxisAngleRotation3< _elementType >::DeSerializeRaw

(

std::istream &

inputStream

)

[inline]

Binary deserialization

Definition at line 676 of file vctAxisAngleRotation3.h.

References cmnDeSerializeRaw().

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

• vctAxisAngleRotation3.h

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