Namespace inertialsim::geometry::axis_angle

Namespace List > inertialsim > geometry > axis_angle

Axis-angle rotation representation conversions (internal API). More...

Public Functions

Type	Name
AxisAngle	FromAxisAngle (const Vector3D & axis, const Scalar1D & angle) Axis, angle representation from axis and angle.
AxisAngle	FromMatrix (const RotationMatrixArray & matrix, bool passive=false) Axis angle representation from rotation matrix.
AxisAngle	FromQuaternion (const Quaternion & quaternion, bool passive=false) Axis, angle representation from quaternion.
AxisAngle	FromRotationVector (const RotationVector & rotation_vector) Axis, angle representation from rotation vector.
AxisAngle	Validate (const Vector3D & axis, const Scalar1D & angle) Validates inputs meet axis, angle conventions.

Detailed Description

Internal API

This namespace is part of InertialSim's internal API. Most users should use the Rotation class and its factory methods rather than calling these functions directly.

See also: Rotation

Public Functions Documentation

function FromAxisAngle

Axis, angle representation from axis and angle.

AxisAngle inertialsim::geometry::axis_angle::FromAxisAngle (
    const  Vector3D & axis,
    const  Scalar1D & angle
) 

Parameters:

• axis Unit vector(s) representing the axis of rotation as a 3xN matrix.
• angle Angle(s) which are applied around the corresponding axis input.

Returns:

Rotation axes and angles.

---

function FromMatrix

Axis angle representation from rotation matrix.

AxisAngle inertialsim::geometry::axis_angle::FromMatrix (
    const  RotationMatrixArray & matrix,
    bool passive=false
) 

Parameters:

• matrix Vector of rotation matrix.
• passive Interpret the rotation as passive.

Returns:

Rotation axes and angles.

---

function FromQuaternion

Axis, angle representation from quaternion.

AxisAngle inertialsim::geometry::axis_angle::FromQuaternion (
    const  Quaternion & quaternion,
    bool passive=false
) 

Parameters:

• quaternion Quaternions, with scalar part first.
• passive Interpret the rotation as passive.

Returns:

Rotation axes and angles.

---

function FromRotationVector

Axis, angle representation from rotation vector.

AxisAngle inertialsim::geometry::axis_angle::FromRotationVector (
    const  RotationVector & rotation_vector
) 

Parameters:

• rotation_vector Rotation vectors.

Returns:

Rotation axes and angles.

---

function Validate

Validates inputs meet axis, angle conventions.

AxisAngle inertialsim::geometry::axis_angle::Validate (
    const  Vector3D & axis,
    const  Scalar1D & angle
) 

Parameters:

• axis Unit vector(s) representing the axis of rotation as a 3xN matrix.
• angle Angle(s) which are applied around the corresponding axis input.

Returns:

The input modified to conform to InertialSim conventions.

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The documentation for this class was generated from the following file cpp/include/inertialsim/geometry/rotation_conversions/axis_angle.h