Define a rotation matrix for a space of dimension 3. More...

#include <vctMatrixRotation3.h>

Inheritance diagram for vctMatrixRotation3< _elementType, _rowMajor >:

Public Types
enum	{ ROWS = 3 , COLS = 3 }
enum	{ DIMENSION = 3 }
typedef vctFixedSizeMatrix< value_type, ROWS, COLS, _rowMajor >	ContainerType
typedef vctMatrixRotation3Base< ContainerType >	BaseType
typedef vctMatrixRotation3ConstBase< ContainerType >	ConstBaseType
typedef vctMatrixRotation3< value_type, _rowMajor >	ThisType
typedef cmnTypeTraits< value_type >	TypeTraits
Public Types inherited from vctMatrixRotation3Base< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > >
enum
enum
typedef vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor >	ContainerType
typedef vctMatrixRotation3ConstBase< ContainerType >	BaseType
typedef vctMatrixRotation3Base< ContainerType >	ThisType
typedef vctMatrixRotation3Base< typename ContainerType::MatrixValueType >	RotationValueType
typedef cmnTypeTraits< value_type >	TypeTraits
Public Types inherited from vctMatrixRotation3ConstBase< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > >
enum
enum
typedef vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor >	BaseType
typedef vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor >	ContainerType
typedef vctMatrixRotation3ConstBase< ContainerType >	ThisType
typedef vctMatrixRotation3< value_type >	RotationValueType
typedef cmnTypeTraits< value_type >	TypeTraits
Public Types inherited from vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor >
typedef vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >	MatrixTraits
typedef vctFixedSizeMatrixBase< _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows, _elementType, typename vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array >	BaseType
typedef vctFixedSizeMatrix< _elementType, _rows, _cols, _rowMajor >	ThisType
typedef MatrixTraits::iterator	iterator
typedef MatrixTraits::const_iterator	const_iterator
typedef MatrixTraits::reverse_iterator	reverse_iterator
typedef MatrixTraits::const_reverse_iterator	const_reverse_iterator
typedef class cmnTypeTraits< value_type >	TypeTraits
typedef TypeTraits::VaArgPromotion	ElementVaArgPromotion
Public Types inherited from vctFixedSizeMatrixBase< _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows, _elementType, vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array >
enum
enum
typedef vctFixedSizeMatrixBase< _rows, _cols, _rowStride, _colStride, _elementType, vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array >	ThisType
typedef vctFixedSizeConstMatrixBase< _rows, _cols, _rowStride, _colStride, _elementType, vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array >	BaseType
typedef vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowStride, _colStride >	MatrixTraits
typedef MatrixTraits::iterator	iterator
typedef MatrixTraits::const_iterator	const_iterator
typedef MatrixTraits::reverse_iterator	reverse_iterator
typedef MatrixTraits::const_reverse_iterator	const_reverse_iterator
typedef BaseType::RowRefType	RowRefType
typedef BaseType::ColumnRefType	ColumnRefType
typedef BaseType::ConstRowRefType	ConstRowRefType
typedef BaseType::ConstColumnRefType	ConstColumnRefType
typedef BaseType::DiagonalRefType	DiagonalRefType
typedef BaseType::ConstDiagonalRefType	ConstDiagonalRefType
typedef BaseType::RefTransposeType	RefTransposeType
typedef BaseType::ConstRefTransposeType	ConstRefTransposeType
typedef BaseType::RowValueType	RowValueType
typedef BaseType::ColumnValueType	ColumnValueType
Public Types inherited from vctFixedSizeConstMatrixBase< _rows, _cols, _rowStride, _colStride, _elementType, vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array >
enum
enum
enum
enum
typedef vctFixedSizeConstMatrixBase< _rows, _cols, _rowStride, _colStride, _elementType, vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array >	ThisType
typedef vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowStride, _colStride >	MatrixTraits
typedef MatrixTraits::iterator	iterator
typedef MatrixTraits::const_iterator	const_iterator
typedef MatrixTraits::reverse_iterator	reverse_iterator
typedef MatrixTraits::const_reverse_iterator	const_reverse_iterator
typedef vctFixedSizeConstVectorRef< _elementType, COLS, COLSTRIDE >	ConstRowRefType
typedef vctFixedSizeVectorRef< _elementType, COLS, COLSTRIDE >	RowRefType
typedef vctFixedSizeConstVectorRef< _elementType, ROWS, ROWSTRIDE >	ConstColumnRefType
typedef vctFixedSizeVectorRef< _elementType, ROWS, ROWSTRIDE >	ColumnRefType
typedef vctFixedSizeConstVectorRef< _elementType, DIAGONAL_LENGTH, DIAGONAL_STRIDE >	ConstDiagonalRefType
typedef vctFixedSizeVectorRef< _elementType, DIAGONAL_LENGTH, DIAGONAL_STRIDE >	DiagonalRefType
typedef vctFixedSizeVector< _elementType, COLS >	RowValueType
typedef vctFixedSizeVector< _elementType, ROWS >	ColumnValueType
typedef vctFixedSizeConstMatrixRef< _elementType, _rows, _cols, _rowStride, _colStride >	ConstRefType
typedef vctFixedSizeMatrixRef< _elementType, _rows, _cols, _rowStride, _colStride >	RefType
typedef vctFixedSizeConstMatrixRef< _elementType, _cols, _rows, _colStride, _rowStride >	ConstRefTransposeType
typedef vctFixedSizeMatrixRef< _elementType, _cols, _rows, _colStride, _rowStride >	RefTransposeType
typedef vctFixedSizeMatrix< _elementType, COLS, ROWS, COLSTRIDE<=ROWSTRIDE >	TransposeValueType
typedef vctFixedSizeMatrix< _elementType, ROWS, COLS, COLSTRIDE<=ROWSTRIDE >	MatrixValueType
typedef vctFixedSizeMatrix< bool, ROWS, COLS, COLSTRIDE<=ROWSTRIDE >	BoolMatrixValueType
typedef vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array	DataType

Public Member Functions
	VCT_CONTAINER_TRAITS_TYPEDEFS (_elementType)
	vctMatrixRotation3 (void)
	vctMatrixRotation3 (const ThisType &other)
	vctMatrixRotation3 (const BaseType &other)
	vctMatrixRotation3 (const ConstBaseType &other)
	vctMatrixRotation3 (const vctDynamicMatrixRef< value_type > &other)
ThisType &	operator= (const ContainerType &other)
ThisType &	operator= (const ThisType &other)
ThisType &	operator= (const BaseType &other)
Constructors with normalization test.
These constructors will check that the input is valid, i.e. normalized. If the input is not normalized, an exception (of type `std::runtime_error`) will be thrown. Each constructor uses the corresponding From() method based on the input type. Note See the cmnThrow() function if an `abort` is better than an exception for your application.
	vctMatrixRotation3 (const value_type &element00, const value_type &element01, const value_type &element02, const value_type &element10, const value_type &element11, const value_type &element12, const value_type &element20, const value_type &element21, const value_type &element22) CISST_THROW(std
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2, stride_type __stride3, class __dataPtrType3>
	vctMatrixRotation3 (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &v1, const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &v2, const vctFixedSizeConstVectorBase< DIMENSION, __stride3, value_type, __dataPtrType3 > &v3, bool vectorsAreColumns=true) CISST_THROW(std
template<class __vectorOwnerType1, class __vectorOwnerType2, class __vectorOwnerType3>
	vctMatrixRotation3 (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &v1, const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &v2, const vctDynamicConstVectorBase< __vectorOwnerType3, value_type > &v3, bool vectorsAreColumns=true) CISST_THROW(std
	vctMatrixRotation3 (const vctAxisAngleRotation3< value_type > &axisAngleRotation) CISST_THROW(std
template<class __containerType>
	vctMatrixRotation3 (const vctQuaternionRotation3Base< __containerType > &quaternionRotation) CISST_THROW(std
template<class __containerType>
	vctMatrixRotation3 (const vctRodriguezRotation3Base< __containerType > &rodriguezRotation) CISST_THROW(std
template<vctEulerRotation3Order::OrderType __order>
	vctMatrixRotation3 (const vctEulerRotation3< __order > &eulerRotation) CISST_THROW(std
Constructors without normalization test
These constructors will either assume that the input is normalized or normalize the input (a copy of it, if required) based on the last parameter provided. If the normalization flag is set to VCT_DO_NOT_NORMALIZE, the input is considered already normalized and the constructor will not perform any sanity check. This can lead to numerical instabilities which have to be handled by the caller. If the normalization flag is set to VCT_NORMALIZE, the input will be normalized. This option should be used whenever it is important to obtain a result as "normalized" as possible.
	vctMatrixRotation3 (const value_type &element00, const value_type &element01, const value_type &element02, const value_type &element10, const value_type &element11, const value_type &element12, const value_type &element20, const value_type &element21, const value_type &element22, bool normalizeInput)
template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2, stride_type __stride3, class __dataPtrType3>
	vctMatrixRotation3 (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &v1, const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &v2, const vctFixedSizeConstVectorBase< DIMENSION, __stride3, value_type, __dataPtrType3 > &v3, bool vectorsAreColumns, bool normalizeInput)
template<class __vectorOwnerType1, class __vectorOwnerType2, class __vectorOwnerType3>
	vctMatrixRotation3 (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &v1, const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &v2, const vctDynamicConstVectorBase< __vectorOwnerType3, value_type > &v3, bool vectorsAreColumns, bool normalizeInput)
	vctMatrixRotation3 (const vctAxisAngleRotation3< value_type > &axisAngleRotation, bool normalizeInput)
template<class __containerType>
	vctMatrixRotation3 (const vctQuaternionRotation3Base< __containerType > &quaternionRotation, bool normalizeInput)
template<class __containerType>
	vctMatrixRotation3 (const vctRodriguezRotation3Base< __containerType > &rodriguezRotation, bool normalizeInput)
template<vctEulerRotation3Order::OrderType __order>
	vctMatrixRotation3 (const vctEulerRotation3< __order > &eulerRotation, bool normalizeInput)
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType>
	vctMatrixRotation3 (const vctFixedSizeMatrixBase< ROWS, COLS, __rowStride, __colStride, value_type, __dataPtrType > &matrix)
Public Member Functions inherited from vctMatrixRotation3Base< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > >
vctMatrixRotation3Base< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > > &	FromRaw (const vctAxisAngleRotation3< typename vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor >::value_type > &axisAngleRotation)
	VCT_CONTAINER_TRAITS_TYPEDEFS (typename ContainerType::value_type)
	vctMatrixRotation3Base ()
ThisType &	From (const vctMatrixRotation3Base< __containerType > &other) CISST_THROW(std
ThisType &	FromNormalized (const vctMatrixRotation3Base< __containerType > &other) CISST_THROW(std
ThisType &	NormalizedSelf (void)
ThisType &	NormalizedOf (ThisType &otherMatrix)
ThisType &	InverseSelf (void)
ThisType &	InverseOf (const ThisType &otherRotation)
Public Member Functions inherited from vctMatrixRotation3ConstBase< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > >
	VCT_CONTAINER_TRAITS_TYPEDEFS (typename ContainerType::value_type)
RotationValueType	Normalized (void) const
bool	IsNormalized (value_type tolerance=TypeTraits::Tolerance()) const
RotationValueType	Inverse (void) const
void	ApplyTo (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &input, vctFixedSizeVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &output) const
void	ApplyInverseTo (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &input, vctFixedSizeVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &output) const
RotationValueType	operator* (const ThisType &input) const
bool	AlmostEquivalent (const ThisType &other, value_type tolerance=TypeTraits::Tolerance()) const
Public Member Functions inherited from vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor >
	VCT_CONTAINER_TRAITS_TYPEDEFS (_elementType)
	vctFixedSizeMatrix ()
ThisType &	operator= (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, __elementType, __dataPtrType > &other)
Public Member Functions inherited from vctFixedSizeMatrixBase< _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows, _elementType, vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array >
	VCT_CONTAINER_TRAITS_TYPEDEFS (_elementType)
iterator	begin ()
iterator	end ()
reverse_iterator	rbegin ()
reverse_iterator	rend ()
RowRefType	operator[] (size_type index)
pointer	Pointer (size_type rowIndex, size_type colIndex)
reference	at (size_type index) CISST_THROW(std
reference	operator() (size_type rowIndex, size_type colIndex) CISST_THROW(std
reference	Element (size_type rowIndex, size_type colIndex)
RowRefType	Row (size_type index)
ColumnRefType	Column (size_type index)
DiagonalRefType	Diagonal (void)
vctFixedSizeMatrixRef< _elementType, __subRows, __subCols, _rowStride, _colStride >	Ref (const size_type startRow=0, const size_type startCol=0) CISST_THROW(std
void	ExchangeRows (const size_type row1Index, const size_type row2Index)
void	ExchangeColumns (const size_type col1Index, const size_type col2Index)
void	SelectRowsFrom (const vctFixedSizeConstMatrixBase< __rows, _cols, __rowStride, __colStride, _elementType, __dataPtrType > &inputMatrix, const vctFixedSizeConstVectorBase< _rows, __indexStride, index_type, __indexDataPtrType > &rowIndexVector)
void	SelectColsFrom (const vctFixedSizeConstMatrixBase< _rows, __cols, __rowStride, __colStride, _elementType, __dataPtrType > &inputMatrix, const vctFixedSizeConstVectorBase< _cols, __indexStride, index_type, __indexDataPtrType > &colIndexVector)
void	RowPermutationOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, _elementType, __dataPtrType > &inputMatrix, const index_type permutedRowIndexes[])
void	RowInversePermutationOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, _elementType, __dataPtrType > &inputMatrix, const index_type permutedRowIndexes[])
void	ColumnPermutationOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, _elementType, __dataPtrType > &inputMatrix, const index_type permutedColumnIndexes[])
void	ColumnInversePermutationOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, _elementType, __dataPtrType > &inputMatrix, const index_type permutedColumnIndexes[])
value_type	SetAll (const value_type value)
bool	Zeros (void)
ThisType &	Assign (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, __elementType, __dataPtrType > &other)
ThisType &	ForceAssign (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, __elementType, __dataPtrType > &other)
bool	FastCopyOf (const vctDynamicConstMatrixBase< __matrixOwnerType, value_type > &source, bool performSafetyChecks=vctFastCopy::PerformChecks) CISST_THROW(std
RefTransposeType	TransposeRef (void)
ThisType &	SumOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __input1RowStride, __input1ColStride, value_type, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< _rows, _cols, __input2RowStride, __input2ColStride, value_type, __input2DataPtrType > &input2Matrix)
ThisType &	DifferenceOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __input1RowStride, __input1ColStride, value_type, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< _rows, _cols, __input2RowStride, __input2ColStride, value_type, __input2DataPtrType > &input2Matrix)
ThisType &	ElementwiseProductOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __input1RowStride, __input1ColStride, value_type, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< _rows, _cols, __input2RowStride, __input2ColStride, value_type, __input2DataPtrType > &input2Matrix)
ThisType &	ElementwiseRatioOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __input1RowStride, __input1ColStride, value_type, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< _rows, _cols, __input2RowStride, __input2ColStride, value_type, __input2DataPtrType > &input2Matrix)
ThisType &	ElementwiseMinOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __input1RowStride, __input1ColStride, value_type, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< _rows, _cols, __input2RowStride, __input2ColStride, value_type, __input2DataPtrType > &input2Matrix)
ThisType &	ElementwiseMaxOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __input1RowStride, __input1ColStride, value_type, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< _rows, _cols, __input2RowStride, __input2ColStride, value_type, __input2DataPtrType > &input2Matrix)
ThisType &	Add (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	Subtract (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	ElementwiseMultiply (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	ElementwiseDivide (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	ElementwiseMin (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	ElementwiseMax (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	operator+= (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	operator-= (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	ProductOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix, const value_type scalar)
ThisType &	RatioOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix, const value_type scalar)
ThisType &	ClippedAboveOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix, const value_type upperBound)
ThisType &	ClippedBelowOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix, const value_type lowerBound)
ThisType &	Multiply (const value_type scalar)
ThisType &	Divide (const value_type scalar)
ThisType &	ClipAbove (const value_type upperBound)
ThisType &	ClipBelow (const value_type lowerBound)
ThisType &	operator*= (const value_type scalar)
ThisType &	operator/= (const value_type scalar)
ThisType &	AddProductOf (const value_type scalar, const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	AddElementwiseProductOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride1, __colStride1, value_type, __dataPtrType1 > &matrix1, const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride2, __colStride2, value_type, __dataPtrType2 > &matrix2)
ThisType &	AbsOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	NegationOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	FloorOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	CeilOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	TransposeOf (const vctFixedSizeConstMatrixBase< _cols, _rows, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	AbsSelf (void)
ThisType &	NegationSelf (void)
ThisType &	FloorSelf (void)
ThisType &	CeilSelf (void)
void	OuterProductOf (const vctFixedSizeConstVectorBase< _rows, __stride1, _elementType, __dataPtrType1 > &columnVector, const vctFixedSizeConstVectorBase< _cols, __stride2, _elementType, __dataPtrType2 > &rowVector)
bool	FromStreamRaw (std::istream &inputStream, const char delimiter=' ')
void	DeSerializeRaw (std::istream &inputStream)
Public Member Functions inherited from vctFixedSizeConstMatrixBase< _rows, _cols, _rowStride, _colStride, _elementType, vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array >
	VCT_CONTAINER_TRAITS_TYPEDEFS (_elementType)
	VCT_NARRAY_TRAITS_TYPEDEFS (DIMENSION)
const_iterator	begin () const
const_iterator	end () const
const_reverse_iterator	rbegin () const
const_reverse_iterator	rend () const
size_type	size () const
const nsize_type &	sizes (void) const
size_type	rows () const
size_type	cols () const
size_type	max_size () const
const nstride_type &	strides (void) const
difference_type	row_stride () const
difference_type	col_stride () const
bool	empty () const
ConstRowRefType	operator[] (size_type index) const
const_pointer	Pointer (size_type rowIndex, size_type colIndex) const
bool	ValidIndex (size_type index) const
bool	ValidRowIndex (size_type rowIndex) const
bool	ValidColIndex (size_type colIndex) const
const_reference	at (size_type index) const CISST_THROW(std
const_reference	operator() (size_type rowIndex, size_type colIndex) const CISST_THROW(std
const_reference	Element (size_type rowIndex, size_type colIndex) const
ConstRowRefType	Row (size_type index) const
ConstColumnRefType	Column (size_type index) const
ConstDiagonalRefType	Diagonal (void) const
vctFixedSizeConstMatrixRef< _elementType, __subRows, __subCols, _rowStride, _colStride >	Ref (const size_type startRow=0, const size_type startCol=0) const CISST_THROW(std
value_type	SumOfElements () const
value_type	ProductOfElements () const
value_type	Trace (void) const
value_type	NormSquare (void) const
NormType	Norm (void) const
value_type	L1Norm (void) const
value_type	LinfNorm (void) const
value_type	MaxElement (void) const
value_type	MinElement (void) const
value_type	MaxAbsElement (void) const
value_type	MinAbsElement (void) const
void	MinAndMaxElement (value_type &minElement, value_type &maxElement) const
bool	IsPositive (void) const
bool	IsNonNegative (void) const
bool	IsNonPositive (void) const
bool	IsNegative (void) const
bool	All (void) const
bool	Any (void) const
bool	IsFinite (void) const
bool	HasNaN (void) const
bool	IsColMajor (void) const
bool	IsRowMajor (void) const
bool	IsCompact (void) const
bool	IsFortran (void) const
bool	StorageOrder (void) const
bool	IsSquare (void) const
bool	FastCopyCompatible (const vctFixedSizeConstMatrixBase< __rows, __cols, __rowStride, __colStride, value_type, __dataPtrType > &source) const
bool	Equal (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
bool	operator== (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
bool	AlmostEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix, value_type tolerance) const
bool	NotEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
bool	operator!= (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
bool	Lesser (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
bool	LesserOrEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
bool	Greater (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
bool	GreaterOrEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
BoolMatrixValueType	ElementwiseEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
BoolMatrixValueType	ElementwiseNotEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
BoolMatrixValueType	ElementwiseLesser (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
BoolMatrixValueType	ElementwiseLesserOrEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
BoolMatrixValueType	ElementwiseGreater (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
BoolMatrixValueType	ElementwiseGreaterOrEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
MatrixValueType	Abs (void) const
MatrixValueType	Negation (void) const
MatrixValueType	Floor (void) const
MatrixValueType	Ceil (void) const
ConstRefTransposeType	TransposeRef (void) const
TransposeValueType	Transpose () 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

Additional Inherited Members
Static Public Member Functions inherited from vctMatrixRotation3ConstBase< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > >
static CISST_EXPORT const RotationValueType &	Identity ()
static const MatrixValueType &	Eye (void)
Protected Member Functions inherited from vctMatrixRotation3ConstBase< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > >
void	ThrowUnlessIsNormalized (void) const CISST_THROW(std
Protected Member Functions inherited from vctFixedSizeConstMatrixBase< _rows, _cols, _rowStride, _colStride, _elementType, vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array >
void	ThrowUnlessValidIndex (size_type index) const CISST_THROW(std
Protected Attributes inherited from vctFixedSizeConstMatrixBase< _rows, _cols, _rowStride, _colStride, _elementType, vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array >
DataType	Data

Detailed Description

template<class _elementType, bool _rowMajor>
class vctMatrixRotation3< _elementType, _rowMajor >

Define a rotation matrix for a space of dimension 3.

This class is templated by the element type. It is derived from vctMatrixRotation3Base and uses a vctFixedSizeMatrix as underlying container. It provides a more humain interface for programmers only interested in templating by _elementType.

Parameters

_elementType The type of elements of the matrix.

See also: vctMatrixRotation3Base vctFixedSizeMatrix

Member Typedef Documentation

◆ BaseType

template<class _elementType, bool _rowMajor>

typedef vctMatrixRotation3Base<ContainerType> vctMatrixRotation3< _elementType, _rowMajor >::BaseType

◆ ConstBaseType

template<class _elementType, bool _rowMajor>

typedef vctMatrixRotation3ConstBase<ContainerType> vctMatrixRotation3< _elementType, _rowMajor >::ConstBaseType

◆ ContainerType

template<class _elementType, bool _rowMajor>

typedef vctFixedSizeMatrix<value_type, ROWS, COLS, _rowMajor> vctMatrixRotation3< _elementType, _rowMajor >::ContainerType

◆ ThisType

template<class _elementType, bool _rowMajor>

typedef vctMatrixRotation3<value_type, _rowMajor> vctMatrixRotation3< _elementType, _rowMajor >::ThisType

◆ TypeTraits

template<class _elementType, bool _rowMajor>

typedef cmnTypeTraits<value_type> vctMatrixRotation3< _elementType, _rowMajor >::TypeTraits

Traits used for all useful types and values related to the element type.

Member Enumeration Documentation

◆ anonymous enum

template<class _elementType, bool _rowMajor>

anonymous enum

Enumerator
DIMENSION

◆ anonymous enum

template<class _elementType, bool _rowMajor>

anonymous enum

Enumerator
ROWS
COLS

Constructor & Destructor Documentation

◆ vctMatrixRotation3() [1/20]

template<class _elementType, bool _rowMajor>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( void )

inline

Default constructor. Sets the rotation matrix to identity.

◆ vctMatrixRotation3() [2/20]

template<class _elementType, bool _rowMajor>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const ThisType & other )

inline

◆ vctMatrixRotation3() [3/20]

template<class _elementType, bool _rowMajor>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const BaseType & other )

inline

◆ vctMatrixRotation3() [4/20]

template<class _elementType, bool _rowMajor>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const ConstBaseType & other )

inline

◆ vctMatrixRotation3() [5/20]

template<class _elementType, bool _rowMajor>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctDynamicMatrixRef< value_type > & other )

inlineexplicit

◆ vctMatrixRotation3() [6/20]

template<class _elementType, bool _rowMajor>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3	(	const value_type &	element00,
		const value_type &	element01,
		const value_type &	element02,
		const value_type &	element10,
		const value_type &	element11,
		const value_type &	element12,
		const value_type &	element20,
		const value_type &	element21,
		const value_type &	element22 )

inline

Constructor from 9 elements.

The parameters are given row first so that the code remains human readable:

vctMatrixRotation3<double> matrix( 0.0, 1.0, 0.0,
                                  -1.0, 0.0, 0.0,
                                   0.0, 0.0, 1.0);

◆ vctMatrixRotation3() [7/20]

template<class _elementType, bool _rowMajor>

template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2, stride_type __stride3, class __dataPtrType3>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &	v1,
		const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &	v2,
		const vctFixedSizeConstVectorBase< DIMENSION, __stride3, value_type, __dataPtrType3 > &	v3,
		bool	vectorsAreColumns = true )

inline

Constructor from 3 fixed size vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

◆ vctMatrixRotation3() [8/20]

template<class _elementType, bool _rowMajor>

template<class __vectorOwnerType1, class __vectorOwnerType2, class __vectorOwnerType3>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3	(	const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &	v1,
		const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &	v2,
		const vctDynamicConstVectorBase< __vectorOwnerType3, value_type > &	v3,
		bool	vectorsAreColumns = true )

inline

Constructor from 3 dynamic vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

◆ vctMatrixRotation3() [9/20]

template<class _elementType, bool _rowMajor>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctAxisAngleRotation3< value_type > & axisAngleRotation )

inlineexplicit

Construction from a vctAxisAngleRotation3.

◆ vctMatrixRotation3() [10/20]

template<class _elementType, bool _rowMajor>

template<class __containerType>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctQuaternionRotation3Base< __containerType > & quaternionRotation )

inlineexplicit

Constructor from a rotation quaternion. It is important to note that this constructor doesn't normalize the rotation quaternion but asserts that it is normalized (in debug mode only). See also the method From(quaternion).

Parameters

quaternionRotation A unit quaternion

◆ vctMatrixRotation3() [11/20]

template<class _elementType, bool _rowMajor>

template<class __containerType>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctRodriguezRotation3Base< __containerType > & rodriguezRotation )

inlineexplicit

Constructor from a vctRodriguezRotation3.

◆ vctMatrixRotation3() [12/20]

template<class _elementType, bool _rowMajor>

template<vctEulerRotation3Order::OrderType __order>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctEulerRotation3< __order > & eulerRotation )

inlineexplicit

Constructor from a vctEulerRotation3.

◆ vctMatrixRotation3() [13/20]

template<class _elementType, bool _rowMajor>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3	(	const value_type &	element00,
		const value_type &	element01,
		const value_type &	element02,
		const value_type &	element10,
		const value_type &	element11,
		const value_type &	element12,
		const value_type &	element20,
		const value_type &	element21,
		const value_type &	element22,
		bool	normalizeInput )

inline

Constructor from 9 elements.

The parameters are given row first so that the code remains human readable:

vctMatrixRotation3<double> matrix( 0.0, 1.0, 0.0,
                                  -1.0, 0.0, 0.0,
                                   0.0, 0.0, 1.0);

◆ vctMatrixRotation3() [14/20]

template<class _elementType, bool _rowMajor>

template<stride_type __stride1, class __dataPtrType1, stride_type __stride2, class __dataPtrType2, stride_type __stride3, class __dataPtrType3>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3	(	const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &	v1,
		const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &	v2,
		const vctFixedSizeConstVectorBase< DIMENSION, __stride3, value_type, __dataPtrType3 > &	v3,
		bool	vectorsAreColumns,
		bool	normalizeInput )

inline

Constructor from 3 fixed size vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

◆ vctMatrixRotation3() [15/20]

template<class _elementType, bool _rowMajor>

template<class __vectorOwnerType1, class __vectorOwnerType2, class __vectorOwnerType3>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3	(	const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &	v1,
		const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &	v2,
		const vctDynamicConstVectorBase< __vectorOwnerType3, value_type > &	v3,
		bool	vectorsAreColumns,
		bool	normalizeInput )

inline

Constructor from 3 dynamic vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

◆ vctMatrixRotation3() [16/20]

template<class _elementType, bool _rowMajor>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3	(	const vctAxisAngleRotation3< value_type > &	axisAngleRotation,
		bool	normalizeInput )

inline

Construction from a vctAxisAngleRotation3.

◆ vctMatrixRotation3() [17/20]

template<class _elementType, bool _rowMajor>

template<class __containerType>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3	(	const vctQuaternionRotation3Base< __containerType > &	quaternionRotation,
		bool	normalizeInput )

inline

Constructor from a rotation quaternion. It is important to note that this constructor doesn't normalize the rotation quaternion but asserts that it is normalized (in debug mode only). See also the method From(quaternion).

Parameters

quaternionRotation	A unit quaternion
normalizeInput	Normalize the input or convert as is (VCT_NORMALIZE or VCT_DO_NOT_NORMALIZE)

◆ vctMatrixRotation3() [18/20]

template<class _elementType, bool _rowMajor>

template<class __containerType>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3	(	const vctRodriguezRotation3Base< __containerType > &	rodriguezRotation,
		bool	normalizeInput )

inline

Constructor from a vctRodriguezRotation3.

◆ vctMatrixRotation3() [19/20]

template<class _elementType, bool _rowMajor>

template<vctEulerRotation3Order::OrderType __order>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3	(	const vctEulerRotation3< __order > &	eulerRotation,
		bool	normalizeInput )

inline

Construction from a vctEulerRotation3.

◆ vctMatrixRotation3() [20/20]

template<class _elementType, bool _rowMajor>

template<stride_type __rowStride, stride_type __colStride, class __dataPtrType>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctFixedSizeMatrixBase< ROWS, COLS, __rowStride, __colStride, value_type, __dataPtrType > & matrix )

inlineexplicit

Initialize this rotation matrix with a 3x3 matrix. This constructor only takes a matrix of the same element type.

Note: This constructor does not verify normalization. It is introduced to allow using results of matrix operations and assign them to a rotation matrix.; The constructor is declared explicit, to force the user to be aware of the conversion being made.

Member Function Documentation

◆ operator=() [1/3]

template<class _elementType, bool _rowMajor>

ThisType & vctMatrixRotation3< _elementType, _rowMajor >::operator= ( const BaseType & other )

inline

◆ operator=() [2/3]

template<class _elementType, bool _rowMajor>

ThisType & vctMatrixRotation3< _elementType, _rowMajor >::operator= ( const ContainerType & other )

inline

The assignment from BaseType (i.e. a 3 by 3 fixed size matrix) has to be redefined for this class (C++ restriction). This operator uses the Assign() method inherited from the BaseType. This operator (as well as the Assign method) allows to set a rotation matrix to whatever value without any further validity checking. It is recommended to use it with caution.

◆ operator=() [3/3]

template<class _elementType, bool _rowMajor>

ThisType & vctMatrixRotation3< _elementType, _rowMajor >::operator= ( const ThisType & other )

inline

◆ VCT_CONTAINER_TRAITS_TYPEDEFS()

template<class _elementType, bool _rowMajor>

vctMatrixRotation3< _elementType, _rowMajor >::VCT_CONTAINER_TRAITS_TYPEDEFS ( _elementType )

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

tmp/cisst-saw/cisst/cisstVector/vctForwardDeclarations.h
tmp/cisst-saw/cisst/cisstVector/vctMatrixRotation3.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BaseType

◆ ConstBaseType

◆ ContainerType

◆ ThisType

◆ TypeTraits

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ vctMatrixRotation3() [1/20]

◆ vctMatrixRotation3() [2/20]

◆ vctMatrixRotation3() [3/20]

◆ vctMatrixRotation3() [4/20]

◆ vctMatrixRotation3() [5/20]

◆ vctMatrixRotation3() [6/20]

◆ vctMatrixRotation3() [7/20]

◆ vctMatrixRotation3() [8/20]

◆ vctMatrixRotation3() [9/20]

◆ vctMatrixRotation3() [10/20]

◆ vctMatrixRotation3() [11/20]

◆ vctMatrixRotation3() [12/20]

◆ vctMatrixRotation3() [13/20]

◆ vctMatrixRotation3() [14/20]

◆ vctMatrixRotation3() [15/20]

◆ vctMatrixRotation3() [16/20]

◆ vctMatrixRotation3() [17/20]

◆ vctMatrixRotation3() [18/20]

◆ vctMatrixRotation3() [19/20]

◆ vctMatrixRotation3() [20/20]

Member Function Documentation

◆ operator=() [1/3]

◆ operator=() [2/3]

◆ operator=() [3/3]

◆ VCT_CONTAINER_TRAITS_TYPEDEFS()