IMP::algebra::Rotation3D Class Reference

3D rotation class. More...

#include <IMP/algebra/Rotation3D.h>

Inheritance diagram for IMP::algebra::Rotation3D:

Public Member Functions
	Rotation3D (const VectorD< 4 > &v, bool assume_normalized=false)
	Rotation3D ()
	Create an invalid rotation.
	Rotation3D (double a, double b, double c, double d)
	Create a rotation from a quaternion. More...
const Vector3D	get_derivative (const Vector3D &o, unsigned int i) const
	Return the derivative of the position o with respect to the i'th internal quaternion coefficient, for i in [0..3], namely (dx/di, dy/di, dz/di) ??? TODO: is this even true ???
Rotation3D	get_inverse () const
	Return the rotation which undoes this rotation.
const Vector4D &	get_quaternion () const
	Return the quaternion so that it can be stored. More...
Vector3D	get_rotated (const Vector3D &o) const
	Rotate a vector around the origin.
double	get_rotated_one_coordinate (const Vector3D &o, unsigned int coord) const
	Gets only the requested rotation coordinate of the vector.
Vector3D	get_rotation_matrix_row (int i) const
Vector3D	operator* (const Vector3D &v) const
	Rotate a vector around the origin.
Rotation3D	operator* (const Rotation3D &q) const
	multiply two rotations
Rotation3D	operator/ (const Rotation3D &r) const
	Compute the rotation which when composed with r gives this.
const Rotation3D &	operator/= (const Rotation3D &r)
void	show (std::ostream &out=std::cout) const

Friends
Rotation3D	compose (const Rotation3D &a, const Rotation3D &b)

Detailed Description

Rotations are currently represented using quaternions and a cached copy of the rotation matrix. The quaternion allows for fast and stable composition and the cached rotation matrix means that rotations are performed quickly. See http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation for a comparison of different implementations of rotations.

Currently the rotation can be initialized from either:

• XYZ Euler angles
• Rotation Matrix
• Quaternion
• angle/axis representation

See geometric primitives for more information.

Definition at line 46 of file Rotation3D.h.

Constructor & Destructor Documentation

IMP::algebra::Rotation3D::Rotation3D ( const VectorD< 4 > &  v, bool  assume_normalized = false  )

explicit

Create a rotation from a vector of 4 quaternion coefficients.

Note

: use assume_normalize with care - inputting an unnormalized vector would result in unexpected results if it is true

Definition at line 80 of file Rotation3D.h.

IMP::algebra::Rotation3D::Rotation3D	(	double	a,
		double	b,
		double	c,
		double	d
	)

Exceptions

base::ValueException

if the rotation is not a unit vector.

Definition at line 90 of file Rotation3D.h.

Member Function Documentation

const Vector4D& IMP::algebra::Rotation3D::get_quaternion

(

)

const

Note that there is no guarantee on which of the two equivalent quaternions is returned.

Definition at line 192 of file Rotation3D.h.

Friends And Related Function Documentation

Rotation3D compose ( const Rotation3D &  a, const Rotation3D &  b  )

friend

See Rotation3D

Definition at line 348 of file Rotation3D.h.

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The documentation for this class was generated from the following file:

• Rotation3D.h