Define a rotation based on the rodriguez representation for a space of dimension 3. More...

#include <vctForwardDeclarations.h>

Inheritance diagram for vctRodriguezRotation3Base< _containerType >:

Public Types
enum	{ DIMENSION = 3 }

typedef _containerType	BaseType

typedef _containerType	ContainerType

typedef vctRodriguezRotation3Base < ContainerType >	ThisType

typedef cmnTypeTraits< value_type >	TypeTraits

Public Member Functions
	VCT_CONTAINER_TRAITS_TYPEDEFS (typename ContainerType::value_type)

	vctRodriguezRotation3Base ()

template<stride_type __stride, class __dataPtrType >
	vctRodriguezRotation3Base (const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &axis)

	vctRodriguezRotation3Base (value_type x, value_type y, value_type z)

template<stride_type __stride, class __dataPtrType >
ThisType &	From (const vctFixedSizeConstVectorBase< 3, __stride, value_type, __dataPtrType > &vector) throw (std::runtime_error)

ThisType &	From (value_type x, value_type y, value_type z) throw (std::runtime_error)

template<class __vectorOwnerType >
ThisType &	From (const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &vector) 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)

ThisType &	From (const vctAxisAngleRotation3< value_type > &axisAngleRotation)

template<stride_type __stride, class __dataPtrType >
ThisType &	FromNormalized (const vctFixedSizeConstVectorBase< 3, __stride, value_type, __dataPtrType > &vector)

ThisType &	FromNormalized (value_type x, value_type y, value_type z)

template<class __vectorOwnerType >
ThisType &	FromNormalized (const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &vector) throw (std::runtime_error)

template<class __containerType >
ThisType &	FromNormalized (const vctQuaternionRotation3Base< __containerType > &quaternionRotation)

template<class __containerType >
ThisType &	FromNormalized (const vctMatrixRotation3Base< __containerType > &matrixRotation)

ThisType &	FromNormalized (const vctAxisAngleRotation3< value_type > &axisAngleRotation)

template<stride_type __stride, class __dataPtrType >
ThisType &	FromRaw (const vctFixedSizeConstVectorBase< 3, __stride, value_type, __dataPtrType > &vector)

ThisType &	FromRaw (value_type x, value_type y, value_type z)

template<class __vectorOwnerType >
ThisType &	FromRaw (const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &vector)

template<class __containerType >
ThisType &	FromRaw (const vctQuaternionRotation3Base< __containerType > &quaternionRotation)

template<class __containerType >
ThisType &	FromRaw (const vctMatrixRotation3Base< __containerType > &matrixRotation)

ThisType &	FromRaw (const vctAxisAngleRotation3< value_type > &axisAngleRotation)

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 CMN_UNUSED(tolerance)=TypeTraits::Tolerance()) const

bool	AlmostEquivalent (const ThisType &other, value_type tolerance=TypeTraits::Tolerance()) const

Static Public Member Functions
static CISST_EXPORT const ThisType &	Identity ()

Protected Member Functions
void	ThrowUnlessIsNormalized (void) const throw (std::runtime_error)

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

Detailed Description

template<class _containerType>
class vctRodriguezRotation3Base< _containerType >

Define a rotation based on the rodriguez representation for a space of dimension 3.

This representation is based on a vector. The direction of the vector determines the axis of rotation and its norm defines the amplitude of the rotation.

This class is templated by the element type.

Parameters

_elementType The type of elements.

See Also: vctQuaternion

Member Typedef Documentation

template<class _containerType>

typedef _containerType vctRodriguezRotation3Base< _containerType >::BaseType

template<class _containerType>

typedef _containerType vctRodriguezRotation3Base< _containerType >::ContainerType

template<class _containerType>

typedef vctRodriguezRotation3Base<ContainerType> vctRodriguezRotation3Base< _containerType >::ThisType

template<class _containerType>

typedef cmnTypeTraits<value_type> vctRodriguezRotation3Base< _containerType >::TypeTraits

Member Enumeration Documentation

template<class _containerType>

anonymous enum

Enumerator
DIMENSION

Constructor & Destructor Documentation

template<class _containerType>

vctRodriguezRotation3Base< _containerType >::vctRodriguezRotation3Base ( )

inline

Default constructor. Sets the rotation to (0, 0, 0).

template<class _containerType>

template<stride_type __stride, class __dataPtrType >

vctRodriguezRotation3Base< _containerType >::vctRodriguezRotation3Base ( const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > & axis )

inline

Constructor from a 3D vector.

Parameters

axis	A vector of size 3.

template<class _containerType>

vctRodriguezRotation3Base< _containerType >::vctRodriguezRotation3Base	(	value_type	x,
		value_type	y,
		value_type	z
	)

inline

Constructor from three elements: x, y, and z

Member Function Documentation

template<class _containerType>

bool vctRodriguezRotation3Base< _containerType >::AlmostEquivalent	(	const ThisType &	other,
		value_type	tolerance = `TypeTraits::Tolerance()`
	)		const

inline

Return true if this rotation is equivalent to the other rotation, up to the given tolerance. Rotations may be effectively equivalent if their unit axis are almost equal and the angles are equal modulo 2 PI.

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

template<class _containerType>

template<stride_type __stride, class __dataPtrType >

ThisType& vctRodriguezRotation3Base< _containerType >::From	(	const vctFixedSizeConstVectorBase< 3, __stride, value_type, __dataPtrType > &	vector	)
throw	(	std::runtime_error
	)

inline

template<class _containerType>

ThisType& vctRodriguezRotation3Base< _containerType >::From	(	value_type	x,
		value_type	y,
		value_type	z
	)
throw	(	std::runtime_error
	)

inline

template<class _containerType>

template<class __vectorOwnerType >

ThisType& vctRodriguezRotation3Base< _containerType >::From	(	const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &	vector	)
throw	(	std::runtime_error
	)

inline

template<class _containerType>

template<class __containerType >

ThisType& vctRodriguezRotation3Base< _containerType >::From	(	const vctQuaternionRotation3Base< __containerType > &	quaternionRotation	)
throw	(	std::runtime_error
	)

inline

template<class _containerType>

template<class __containerType >

ThisType& vctRodriguezRotation3Base< _containerType >::From ( const vctMatrixRotation3Base< __containerType > & matrixRotation )

inline

template<class _containerType>

ThisType& vctRodriguezRotation3Base< _containerType >::From ( const vctAxisAngleRotation3< value_type > & axisAngleRotation )

inline

template<class _containerType>

template<stride_type __stride, class __dataPtrType >

ThisType& vctRodriguezRotation3Base< _containerType >::FromNormalized ( const vctFixedSizeConstVectorBase< 3, __stride, value_type, __dataPtrType > & vector )

inline

template<class _containerType>

ThisType& vctRodriguezRotation3Base< _containerType >::FromNormalized	(	value_type	x,
		value_type	y,
		value_type	z
	)

inline

template<class _containerType>

template<class __vectorOwnerType >

ThisType& vctRodriguezRotation3Base< _containerType >::FromNormalized	(	const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &	vector	)
throw	(	std::runtime_error
	)

inline

template<class _containerType>

template<class __containerType >

ThisType& vctRodriguezRotation3Base< _containerType >::FromNormalized ( const vctQuaternionRotation3Base< __containerType > & quaternionRotation )

inline

template<class _containerType>

template<class __containerType >

ThisType& vctRodriguezRotation3Base< _containerType >::FromNormalized ( const vctMatrixRotation3Base< __containerType > & matrixRotation )

inline

template<class _containerType>

ThisType& vctRodriguezRotation3Base< _containerType >::FromNormalized ( const vctAxisAngleRotation3< value_type > & axisAngleRotation )

inline

template<class _containerType>

template<stride_type __stride, class __dataPtrType >

ThisType& vctRodriguezRotation3Base< _containerType >::FromRaw ( const vctFixedSizeConstVectorBase< 3, __stride, value_type, __dataPtrType > & vector )

inline

template<class _containerType>

ThisType& vctRodriguezRotation3Base< _containerType >::FromRaw	(	value_type	x,
		value_type	y,
		value_type	z
	)

inline

template<class _containerType>

template<class __vectorOwnerType >

ThisType& vctRodriguezRotation3Base< _containerType >::FromRaw ( const vctDynamicConstVectorBase< __vectorOwnerType, value_type > & vector )

inline

template<class _containerType>

template<class __containerType >

ThisType& vctRodriguezRotation3Base< _containerType >::FromRaw ( const vctQuaternionRotation3Base< __containerType > & quaternionRotation )

inline

template<class _containerType>

template<class __containerType >

ThisType& vctRodriguezRotation3Base< _containerType >::FromRaw ( const vctMatrixRotation3Base< __containerType > & matrixRotation )

inline

template<class _containerType>

ThisType& vctRodriguezRotation3Base< _containerType >::FromRaw ( const vctAxisAngleRotation3< value_type > & axisAngleRotation )

inline

template<class _containerType>

static CISST_EXPORT const ThisType& vctRodriguezRotation3Base< _containerType >::Identity ( )

static

Const reference to the identity. In this case, a null vector.

template<class _containerType>

ThisType vctRodriguezRotation3Base< _containerType >::Inverse ( void ) const

inline

template<class _containerType>

ThisType& vctRodriguezRotation3Base< _containerType >::InverseOf ( const ThisType & otherRotation )

inline

template<class _containerType>

ThisType& vctRodriguezRotation3Base< _containerType >::InverseSelf ( void )

inline

template<class _containerType>

bool vctRodriguezRotation3Base< _containerType >::IsNormalized ( value_type CMN_UNUSEDtolerance = TypeTraits::Tolerance() ) const

inline

Test if this rotation is normalized. This methods always return "true" since any angle is considered valid. This method is provided mostly for API completion.

Parameters

tolerance Tolerance. This variable is not used as this rotation is always normalized. The tolerance parameter is provided just to have the same signature as for other transformations.

template<class _containerType>

ThisType vctRodriguezRotation3Base< _containerType >::Normalized ( void ) const

inline

See NormalizedSelf

template<class _containerType>

ThisType& vctRodriguezRotation3Base< _containerType >::NormalizedOf ( const ThisType & otherRotation )

inline

See NormalizedSelf

template<class _containerType>

ThisType& vctRodriguezRotation3Base< _containerType >::NormalizedSelf ( void )

inline

Norm lesser than 2 * PI.

template<class _containerType>

void vctRodriguezRotation3Base< _containerType >::ThrowUnlessIsNormalized	(	void	)	const
throw	(	std::runtime_error
	)

inlineprotected

Throw an exception unless this rotation is normalized.

template<class _containerType>

template<class _inputType >

void vctRodriguezRotation3Base< _containerType >::ThrowUnlessIsNormalized	(	const _inputType &	input	)	const
throw	(	std::runtime_error
	)

inlineprotected

Throw an exception unless the input is normalized.

Parameters

input An object with IsNormalized method.

template<class _containerType>

vctRodriguezRotation3Base< _containerType >::VCT_CONTAINER_TRAITS_TYPEDEFS ( typename ContainerType::value_type )

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstVector/vctForwardDeclarations.h
/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstVector/vctRodriguezRotation3Base.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

template<class _containerType> class vctRodriguezRotation3Base< _containerType >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<class _containerType>
class vctRodriguezRotation3Base< _containerType >