Rotation< T, 3 > Class Template Reference

3D rotation. More...

#include <geomc/linalg/Rotation.h>

Inheritance diagram for Rotation< T, 3 >:

Public Types
using	elem_t
	The coordinate type of this object.
using	point_t
	The type of a point in this object's space.

Public Member Functions
	Rotation (const Quat< T > &q)
	Rotation (Vec< T, 3 > axis, T angle)
T	angle () const
	Return the angle component of the rotation.
Vec< T, 3 >	apply_direction (const Vec< T, 3 > &v) const
	Apply to a direction vector (conforming to Transform concept).
Vec< T, 3 >	apply_inverse_direction (const Vec< T, 3 > &v) const
	Apply inverse rotation to a direction vector (conforming to Transform concept).
Rotation< T, 3 >	canonical () const
Rotation< T, 3 >	exp () const
Rotation< T, 3 >	inv () const
	Compute the inverse rotation.
Rotation< T, 3 >	log () const
	operator AffineTransform< T, 3 > () const
	Cast to affine transform.
	operator Quat< T > () const
	Cast to quaternion.
template<typename U>
	operator Rotation< U, 3 > () const
	operator SimpleMatrix< T, 3, 3 > () const
	Represent this rotation as a matrix.
Rotation< T, 3 >	operator* (const Rotation< T, 3 > &other) const
	Compose rotation.
Vec< T, 3 >	operator* (const Vec< T, 3 > &v) const
	Apply to a 3D vector.
Rotation< T, 3 > &	operator*= (const Rotation< T, 3 > &other)
	In-place compose rotation.
Rotation< T, 3 > &	operator*= (T s)
	In-place scaling of a rotation.
Rotation< T, 3 >	operator/ (const Rotation< T, 3 > &other) const
	Find the rotation that takes other to this.
Rotation< T, 3 > &	operator/= (const Rotation< T, 3 > &other)
	In-place apply inverse.
AffineTransform< T, 3 >	transform () const
	Represent as an affine transform.

Static Public Member Functions
static Rotation< T, 3 >	align_vectors (const Vec< T, 3 > &dir, const Vec< T, 3 > &align_with)
	Rotation aligning two unit vectors.

Public Attributes
Quat< T >	q

Static Public Attributes
static constexpr index_t	N
	The dimension of this object.

Related Symbols
(Note that these are not member symbols.)
Rotation< T, 2 >	mix (T s, const Rotation< T, 2 > &a, const Rotation< T, 2 > &b)
	Minimally interpolate two rotations.
Rotation< T, 3 >	mix (T s, const Rotation< T, 3 > &a, const Rotation< T, 3 > &b)
	Minimally interpolate two rotations.
Isometry< T, N >	operator* (const Isometry< T, N > &i, const Rotation< T, N > &r)
	Apply an isometry to a rotation.
Rotation< T, 2 >	operator* (const Rotation< T, 2 > &o, T s)
	Extend a rotation.
Rotation< T, 3 >	operator* (const Rotation< T, 3 > &o, T s)
	Extend a rotation.
Isometry< T, N >	operator* (const Rotation< T, N > &r, const Isometry< T, N > &i)
	Apply a rotation to an isometry.
Similarity< T, N >	operator* (const Rotation< T, N > &r, const Similarity< T, N > &i)
	Apply a rotation to a similarity.
Similarity< T, N >	operator* (const Similarity< T, N > &i, const Rotation< T, N > &r)
	Apply a similarity to a rotation.
Rotation< T, 2 >	operator* (T s, const Rotation< T, 2 > &o)
	Extend a rotation.
Rotation< T, 3 >	operator* (T s, const Rotation< T, 3 > &o)
	Extend a rotation.
Vec< T, 2 >	operator/ (const Vec< T, 2 > &v, const Rotation< T, 2 > &r)
	Apply the inverse of a rotation to a vector.
Vec< T, 3 >	operator/ (const Vec< T, 3 > &v, const Rotation< T, 3 > &r)
	Apply the inverse of a rotation to a vector.

Detailed Description

template<typename T>
class geom::Rotation< T, 3 >

3D rotation.

See Rotation for a general description of rotations.

Member Typedef Documentation

point_t

using point_t

inherited

The type of a point in this object's space.

An N-vector of T if N > 1, otherwise a T.

Member Function Documentation

canonical()

template<typename T>

Rotation< T, 3 > canonical ( ) const

inline

Return a rotation with the same orientation, but with axis chosen so the rotation angle is in the range [0, π].

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

• geomc/linalg/Rotation.h
• geomc/linalg/Isometry.h
• geomc/linalg/Similarity.h