Rotation3D.h File Reference

Simple 3D rotation class. More...

Include dependency graph for Rotation3D.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
class	IMP::algebra::FixedXYZ
	A simple class for returning XYZ Euler angles. More...
class	IMP::algebra::FixedZYZ
	A simple class for returning ZYZ Euler angles. More...
class	IMP::algebra::Rotation3D
	3D rotation class. More...
Namespaces
namespace	IMP
	The IMP kernel provides base classes and key shared functionality.
namespace	IMP::algebra
	This module contains general purpose algebraic and geometric methods.
Typedefs
typedef std::pair< VectorD < 3 >, double >	IMP::algebra::AxisAnglePair
typedef std::vector< Rotation3D >	IMP::algebra::Rotation3Ds
Functions
Rotation3D	IMP::algebra::compose (const Rotation3D &a, const Rotation3D &b)
std::pair< VectorD< 3 >, double >	IMP::algebra::get_axis_and_angle (const Rotation3D &rot)
	Decompose a Rotation3D object into a rotation around an axis.
double	IMP::algebra::get_distance (const Rotation3D &r0, const Rotation3D &r1)
	Return a distance between the two rotations.
Rotation3D	IMP::algebra::get_identity_rotation_3d ()
	Return a rotation that does not do anything.
Rotation3D	IMP::algebra::get_random_rotation_3d (const Rotation3D &center, double distance)
	Pick a rotation at random near the provided one.
Rotation3D	IMP::algebra::get_random_rotation_3d ()
	Pick a rotation at random from all possible rotations.
Rotation3D	IMP::algebra::get_rotation_from_matrix (double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)
	Generate a Rotation3D object from a rotation matrix.
Rotation3D	IMP::algebra::get_rotation_from_vector4d (const VectorD< 4 > &v)
	Compute a rotatation from an unnormalized quaternion.
Rotation3D	IMP::algebra::get_rotation_in_radians_about_axis (const VectorD< 3 > &axis, double angle)
	Generate a Rotation3D object from a rotation around an axis.
Rotation3D	IMP::algebra::get_rotation_taking_first_to_second (const VectorD< 3 > &v1, const VectorD< 3 > &v2)
	Create a rotation from the first vector to the second one.
Rotation3Ds	IMP::algebra::get_uniform_cover_rotations_3d (unsigned int num_points)
	Cover the space of rotations evenly.
Rotation3D	IMP::algebra::interpolate (const Rotation3D &a, const Rotation3D &b, double f)
	Interpolate between two rotations.
Euler Angles
There are many conventions for how to define Euler angles, based on choices of which of the x,y,z axis to use in what order and whether the rotation axis is in the body frame (and hence affected by previous rotations) or in in a fixed frame. See http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles for a general description. All Euler angles are specified in radians. The names are all rotation_from_{fixed/body}_abc() where abc is the ordering of x,y,z.
FixedXYZ	IMP::algebra::get_fixed_xyz_from_rotation (const Rotation3D &r)
	The inverse of rotation_from_fixed_xyz().
FixedZYZ	IMP::algebra::get_fixed_zyz_from_rotation (const Rotation3D &r)
	The inverse of rotation_from_fixed_zyz().
Rotation3D	IMP::algebra::get_rotation_from_fixed_xyz (double xr, double yr, double zr)
	Initialize a rotation in x-y-z order from three angles.
Rotation3D	IMP::algebra::get_rotation_from_fixed_zxz (double phi, double theta, double psi)
	Initialize a rotation from euler angles.
Rotation3D	IMP::algebra::get_rotation_from_fixed_zyz (double Rot, double Tilt, double Psi)
	Generate a rotation object from Euler Angles.

---

Detailed Description

Simple 3D rotation class.

Copyright 2007-2010 IMP Inventors. All rights reserved.