Namespace inertialsim::geometry::rotation_vector¶

Namespace List > inertialsim > geometry > rotation_vector

Rotation vector representation conversions (internal API). More...

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.

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¶

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.
angle Angle(s) which are applied around the corresponding axis (N).

Returns:

Rotation vectors.

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 vectors.

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 vectors.

function FromRotationVector¶

Rotation vector representation from rotation vector.

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

Parameters:

rotation_vector Rotation vector(s).

Returns:

Validated rotation vectors.

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.

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