#include <rotmatrix.h>
Public Member Functions | |
rotmatrix (double a00, double a01, double a02, double a10, double a11, double a12, double a20, double a21, double a22) | |
rotmatrix (const vec3 &a, const vec3 &b, const vec3 &c) | |
void | SetToIdentity () |
void | SetToZero () |
void | Transpose () |
void | toAxisAngle (vec3 &axis, double &angle) const |
void | Make_Axis_Rotation_Transform (const vec3 &axis, double angle) |
void | Make_CPAC_Euler_Matrix (double alpha, double beta, double gamma) |
void | Extract_CPAC_Euler_Angles (double &alpha, double &beta, double &gamma) const |
vec3 | Transform (const vec3 &vec) const |
void | Transform (const vec3 &vec, vec3 &vec2) const |
Related Functions | |
(Note that these are not member functions.) | |
rotmatrix | operator * (const rotmatrix &a, const rotmatrix &b) |
void | matmult (const rotmatrix &a, const rotmatrix &b, rotmatrix &res) |
void | TransposeTimes (const rotmatrix &a, const rotmatrix &b, rotmatrix &res) |
std::ostream & | operator<< (std::ostream &os, const rotmatrix &mat) |
Definition at line 45 of file rotmatrix.h.
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Constructs a rotation matrix from its nine entries Definition at line 53 of file rotmatrix.h. |
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Constructs a rotation matrix so that a is the first column, b is the second column and c is the third column.
Definition at line 41 of file rotmatrix.cc. |
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Sets the matrix to the identity matrix. Definition at line 48 of file rotmatrix.cc. |
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Sets all matrix elements to zero. Definition at line 55 of file rotmatrix.cc. |
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Transposes the matrix. Definition at line 61 of file rotmatrix.cc. |
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Extracts a unit-length rotation axis axis and a rotation angle angle from the matrix. Definition at line 68 of file rotmatrix.cc. |
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Constructs a matrix which causes a rotation by angle around axis. axis must have unit length. Definition at line 81 of file rotmatrix.h. |
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Creates a rotation matrix A, which performs the following operations on a vector v, when Av is calculated:
Definition at line 121 of file rotmatrix.cc. |
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Extracts the Euler angles alpha, beta and gamma from the matrix. For their definition see Make_CPAC_Euler_Matrix().
Definition at line 132 of file rotmatrix.cc. |
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Returns the vector vec, transformed by the matrix. Definition at line 120 of file rotmatrix.h. |
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Returns the vector vec, transformed by the matrix, in vec2. Definition at line 128 of file rotmatrix.h. |