Namespace inertialsim::geometry::rotation_vector

Namespace List > inertialsim > geometry > rotation_vector

Public Functions

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

Public Functions Documentation

function FromAxisAngle

Rotation vector representation from axis and angle.

RotationVector inertialsim::geometry::rotation_vector::FromAxisAngle (
    const Vector3D & axis,
    const Scalar1D & angle
) 

Parameters:

• axis Unit vector(s) representing the axis of rotation (3, N).
• angle Angle(s) which are applied around the corresponding axis (N).

Returns:

Rotation vector(s) (3, N).

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function FromMatrix

Rotation vector representation from rotation matrix.

RotationVector inertialsim::geometry::rotation_vector::FromMatrix (
    const RotationMatrixArray & matrix,
    bool passive=false
) 

Parameters:

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

Returns:

Rotation vector(s) (3, N).

---

function FromQuaternion

Rotation vector representation from quaternion.

RotationVector inertialsim::geometry::rotation_vector::FromQuaternion (
    const Quaternion & quaternion,
    bool passive=false
) 

Parameters:

• quaternion Quaternion(s) (4, N), with scalar part first.
• passive Interpret the rotation as passive.

Returns:

Rotation vector(s) (3, N).

---

function FromRotationVector

Rotation vector representation from rotation vector.

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

Parameters:

• rotation_vector Rotation vector(s) (3, N).

Returns:

Validated rotation vector(s) (3, N).

---

function Validate

Validates inputs meet rotation vector conventions.

RotationVector inertialsim::geometry::rotation_vector::Validate (
    const RotationVector & rotation_vector
) 

Parameters:

• rotation_vector Rotation vector(s) (3, N).

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/rotation_vector.h