#include <AngleAxis.h>

Inheritance diagram for Eigen::AngleAxis< _Scalar >:

Public Types
enum	{ Dim = 3 }

enum	{ Dim = 3 }

typedef _Scalar	Scalar
	the scalar type of the coefficients

typedef Matrix< Scalar, 3, 3 >	Matrix3

typedef Matrix< Scalar, 3, 1 >	Vector3

typedef Quaternion< Scalar >	QuaternionType

typedef _Scalar	Scalar
	the scalar type of the coefficients

typedef Matrix< Scalar, 3, 3 >	Matrix3

typedef Matrix< Scalar, 3, 1 >	Vector3

typedef Quaternion< Scalar >	QuaternionType

Public Types inherited from Eigen::RotationBase< AngleAxis< _Scalar >, 3 >
enum

enum

typedef ei_traits< AngleAxis< _Scalar > >::Scalar	Scalar
	the scalar type of the coefficients

typedef internal::traits< AngleAxis< _Scalar > >::Scalar	Scalar
	the scalar type of the coefficients

typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
	corresponding linear transformation matrix type

typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
	corresponding linear transformation matrix type

typedef Matrix< Scalar, Dim, 1 >	VectorType

Public Member Functions
	AngleAxis ()
	Default constructor without initialization. More...

template<typename Derived >
	AngleAxis (Scalar angle, const MatrixBase< Derived > &axis)
	Constructs and initialize the angle-axis rotation from an angle in radian and an axis which must be normalized. More...

	AngleAxis (const QuaternionType &q)
	Constructs and initialize the angle-axis rotation from a quaternion q. More...

template<typename Derived >
	AngleAxis (const MatrixBase< Derived > &m)
	Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. More...

Scalar	angle () const

Scalar &	angle ()

const Vector3 &	axis () const

Vector3 &	axis ()

QuaternionType	operator* (const AngleAxis &other) const
	Concatenates two rotations.

QuaternionType	operator* (const QuaternionType &other) const
	Concatenates two rotations.

Matrix3	operator* (const Matrix3 &other) const
	Concatenates two rotations.

Vector3	operator* (const Vector3 &other) const
	Applies rotation to vector.

AngleAxis	inverse () const

AngleAxis &	operator= (const QuaternionType &q)
	Set `*this` from a quaternion. More...

template<typename Derived >
AngleAxis &	operator= (const MatrixBase< Derived > &m)

template<typename Derived >
AngleAxis &	fromRotationMatrix (const MatrixBase< Derived > &m)

Matrix3	toRotationMatrix (void) const
	Constructs and. More...

template<typename NewScalarType >
internal::cast_return_type< AngleAxis, AngleAxis< NewScalarType > >::type	cast () const

template<typename OtherScalarType >
	AngleAxis (const AngleAxis< OtherScalarType > &other)
	Copy constructor with scalar type conversion.

bool	isApprox (const AngleAxis &other, typename NumTraits< Scalar >::Real prec=precision< Scalar >()) const

	AngleAxis ()
	Default constructor without initialization. More...

template<typename Derived >
	AngleAxis (const Scalar &angle, const MatrixBase< Derived > &axis)
	Constructs and initialize the angle-axis rotation from an angle in radian and an axis which must be normalized. More...

template<typename QuatDerived >
	AngleAxis (const QuaternionBase< QuatDerived > &q)
	Constructs and initialize the angle-axis rotation from a quaternion q. More...

template<typename Derived >
	AngleAxis (const MatrixBase< Derived > &m)
	Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. More...

Scalar	angle () const

Scalar &	angle ()

const Vector3 &	axis () const

Vector3 &	axis ()

QuaternionType	operator* (const AngleAxis &other) const
	Concatenates two rotations.

QuaternionType	operator* (const QuaternionType &other) const
	Concatenates two rotations.

AngleAxis	inverse () const

template<class QuatDerived >
AngleAxis &	operator= (const QuaternionBase< QuatDerived > &q)

template<typename Derived >
AngleAxis &	operator= (const MatrixBase< Derived > &m)

template<typename Derived >
AngleAxis &	fromRotationMatrix (const MatrixBase< Derived > &m)

Matrix3	toRotationMatrix (void) const

template<typename NewScalarType >
internal::cast_return_type< AngleAxis, AngleAxis< NewScalarType > >::type	cast () const

template<typename OtherScalarType >
	AngleAxis (const AngleAxis< OtherScalarType > &other)
	Copy constructor with scalar type conversion.

bool	isApprox (const AngleAxis &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const

template<typename Derived >
AngleAxis< Scalar > &	operator= (const MatrixBase< Derived > &mat)
	Set `this` from a 3x3 rotation matrix mat*.

template<typename QuatDerived >
AngleAxis< Scalar > &	operator= (const QuaternionBase< QuatDerived > &q)
	Set `this` from a unit* quaternion. More...

template<typename Derived >
AngleAxis< Scalar > &	fromRotationMatrix (const MatrixBase< Derived > &mat)
	Sets `*this` from a 3x3 rotation matrix.

Public Member Functions inherited from Eigen::RotationBase< AngleAxis< _Scalar >, 3 >
const AngleAxis< _Scalar > &	derived () const

AngleAxis< _Scalar > &	derived ()

const AngleAxis< _Scalar > &	derived () const

AngleAxis< _Scalar > &	derived ()

RotationMatrixType	toRotationMatrix () const

RotationMatrixType	toRotationMatrix () const

AngleAxis< _Scalar >	inverse () const

AngleAxis< _Scalar >	inverse () const

Transform< Scalar, Dim >	operator* (const Translation< Scalar, Dim > &t) const

RotationMatrixType	operator* (const Scaling< Scalar, Dim > &s) const

Transform< Scalar, Dim >	operator* (const Transform< Scalar, Dim > &t) const

Transform< Scalar, Dim, Isometry >	operator* (const Translation< Scalar, Dim > &t) const

RotationMatrixType	operator* (const UniformScaling< Scalar > &s) const

EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector< AngleAxis< _Scalar >, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType	operator* (const EigenBase< OtherDerived > &e) const

Transform< Scalar, Dim, Mode >	operator* (const Transform< Scalar, Dim, Mode, Options > &t) const

RotationMatrixType	matrix () const

VectorType	_transformVector (const OtherVectorType &v) const

Static Public Member Functions
static const AngleAxis	Identity ()

Protected Attributes
Vector3	m_axis

Scalar	m_angle

Friends
QuaternionType	operator* (const QuaternionType &a, const AngleAxis &b)
	Concatenates two rotations.

Matrix3	operator* (const Matrix3 &a, const AngleAxis &b)
	Concatenates two rotations.

QuaternionType	operator* (const QuaternionType &a, const AngleAxis &b)
	Concatenates two rotations.

Detailed Description

template<typename _Scalar>
class Eigen::AngleAxis< _Scalar >

Represents a 3D rotation as a rotation angle around an arbitrary 3D axis

Parameters

_Scalar the scalar type, i.e., the type of the coefficients.

The following two typedefs are provided for convenience:

AngleAxisf for float
AngleAxisd for double

AngleAxisForEuler How to define a rotation from Euler-angles

Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily mimic Euler-angles. Here is an example:

Output:

Note: This class is not aimed to be used to store a rotation transformation, but rather to make easier the creation of other rotation (Quaternion, rotation Matrix) and transformation objects.

See also: class Quaternion, class Transform, MatrixBase::UnitX()

Represents a 3D rotation as a rotation angle around an arbitrary 3D axis

Parameters

_Scalar the scalar type, i.e., the type of the coefficients.

Warning: When setting up an AngleAxis object, the axis vector must be normalized.

The following two typedefs are provided for convenience:

AngleAxisf for float
AngleAxisd for double

Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily mimic Euler-angles. Here is an example:

Output:

Note: This class is not aimed to be used to store a rotation transformation, but rather to make easier the creation of other rotation (Quaternion, rotation Matrix) and transformation objects.

See also: class Quaternion, class Transform, MatrixBase::UnitX()

Constructor & Destructor Documentation

§ AngleAxis() [1/8]

template<typename _Scalar>

Eigen::AngleAxis< _Scalar >::AngleAxis ( )

inline

Default constructor without initialization.

§ AngleAxis() [2/8]

template<typename _Scalar>

template<typename Derived >

Eigen::AngleAxis< _Scalar >::AngleAxis	(	Scalar	angle,
		const MatrixBase< Derived > &	axis
	)

inline

Constructs and initialize the angle-axis rotation from an angle in radian and an axis which must be normalized.

§ AngleAxis() [3/8]

template<typename _Scalar>

Eigen::AngleAxis< _Scalar >::AngleAxis ( const QuaternionType & q )

inline

Constructs and initialize the angle-axis rotation from a quaternion q.

§ AngleAxis() [4/8]

template<typename _Scalar>

template<typename Derived >

Eigen::AngleAxis< _Scalar >::AngleAxis ( const MatrixBase< Derived > & m )

inlineexplicit

Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix.

§ AngleAxis() [5/8]

template<typename _Scalar>

Eigen::AngleAxis< _Scalar >::AngleAxis ( )

inline

Default constructor without initialization.

§ AngleAxis() [6/8]

template<typename _Scalar>

template<typename Derived >

Eigen::AngleAxis< _Scalar >::AngleAxis	(	const Scalar &	angle,
		const MatrixBase< Derived > &	axis
	)

inline

Constructs and initialize the angle-axis rotation from an angle in radian and an axis which must be normalized.

Warning: If the axis vector is not normalized, then the angle-axis object represents an invalid rotation.

§ AngleAxis() [7/8]

template<typename _Scalar>

template<typename QuatDerived >

Eigen::AngleAxis< _Scalar >::AngleAxis ( const QuaternionBase< QuatDerived > & q )

inlineexplicit

Constructs and initialize the angle-axis rotation from a quaternion q.

§ AngleAxis() [8/8]

template<typename _Scalar>

template<typename Derived >

Eigen::AngleAxis< _Scalar >::AngleAxis ( const MatrixBase< Derived > & m )

inlineexplicit

Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix.

Member Function Documentation

§ angle() [1/2]

template<typename _Scalar>

Scalar Eigen::AngleAxis< _Scalar >::angle ( ) const

inline

Returns: the value of the rotation angle in radian

§ angle() [2/2]

template<typename _Scalar>

Scalar& Eigen::AngleAxis< _Scalar >::angle ( )

inline

Returns: a read-write reference to the stored angle in radian

§ axis() [1/2]

template<typename _Scalar>

const Vector3& Eigen::AngleAxis< _Scalar >::axis ( ) const

inline

Returns: the rotation axis

§ axis() [2/2]

template<typename _Scalar>

Vector3& Eigen::AngleAxis< _Scalar >::axis ( )

inline

Returns: a read-write reference to the stored rotation axis.

Warning: The rotation axis must remain a unit vector.

§ cast() [1/2]

template<typename _Scalar>

template<typename NewScalarType >

internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type Eigen::AngleAxis< _Scalar >::cast ( ) const

inline

Returns: *this with scalar type casted to NewScalarType

Note that if NewScalarType is equal to the current scalar type of *this then this function smartly returns a const reference to *this.

§ cast() [2/2]

template<typename _Scalar>

template<typename NewScalarType >

internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type Eigen::AngleAxis< _Scalar >::cast ( ) const

inline

Returns: *this with scalar type casted to NewScalarType

Note that if NewScalarType is equal to the current scalar type of *this then this function smartly returns a const reference to *this.

§ inverse() [1/2]

template<typename _Scalar>

AngleAxis Eigen::AngleAxis< _Scalar >::inverse ( ) const

inline

Returns: the inverse rotation, i.e., an angle-axis with opposite rotation angle

§ inverse() [2/2]

template<typename _Scalar>

AngleAxis Eigen::AngleAxis< _Scalar >::inverse ( void ) const

inline

Returns: the inverse rotation, i.e., an angle-axis with opposite rotation angle

§ isApprox() [1/2]

template<typename _Scalar>

bool Eigen::AngleAxis< _Scalar >::isApprox	(	const AngleAxis< _Scalar > &	other,
		typename NumTraits< Scalar >::Real	prec = `precision<Scalar>()`
	)		const

inline

Returns: true if *this is approximately equal to other, within the precision determined by prec.

See also: MatrixBase::isApprox()

§ isApprox() [2/2]

template<typename _Scalar>

bool Eigen::AngleAxis< _Scalar >::isApprox	(	const AngleAxis< _Scalar > &	other,
		const typename NumTraits< Scalar >::Real &	prec = `NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Returns: true if *this is approximately equal to other, within the precision determined by prec.

See also: MatrixBase::isApprox()

§ operator=() [1/2]

template<typename Scalar >

AngleAxis< Scalar > & Eigen::AngleAxis< Scalar >::operator= ( const QuaternionType & q )

Set *this from a quaternion.

The axis is normalized.

§ operator=() [2/2]

template<typename _Scalar>

template<typename QuatDerived >

AngleAxis<Scalar>& Eigen::AngleAxis< _Scalar >::operator= ( const QuaternionBase< QuatDerived > & q )

Set *this from a unit quaternion.

The axis is normalized.

Warning: As any other method dealing with quaternion, if the input quaternion is not normalized then the result is undefined.

§ toRotationMatrix()

template<typename Scalar >

AngleAxis< Scalar >::Matrix3 Eigen::AngleAxis< Scalar >::toRotationMatrix ( void ) const

Constructs and.

Returns: an equivalent 3x3 rotation matrix.

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

vendor/eigen/Eigen/src/Core/util/ForwardDeclarations.h
vendor/eigen/Eigen/src/Eigen2Support/Geometry/AngleAxis.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Friends

Detailed Description

template<typename _Scalar> class Eigen::AngleAxis< _Scalar >

Constructor & Destructor Documentation

§ AngleAxis() [1/8]

§ AngleAxis() [2/8]

§ AngleAxis() [3/8]

§ AngleAxis() [4/8]

§ AngleAxis() [5/8]

§ AngleAxis() [6/8]

§ AngleAxis() [7/8]

§ AngleAxis() [8/8]

Member Function Documentation

§ angle() [1/2]

§ angle() [2/2]

§ axis() [1/2]

§ axis() [2/2]

§ cast() [1/2]

§ cast() [2/2]

§ inverse() [1/2]

§ inverse() [2/2]

§ isApprox() [1/2]

§ isApprox() [2/2]

§ operator=() [1/2]

§ operator=() [2/2]

§ toRotationMatrix()

template<typename _Scalar>
class Eigen::AngleAxis< _Scalar >