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IMP Reference Guide  2.6.1
The Integrative Modeling Platform
IMP::algebra::Rotation3D Class Reference

3D rotation class. More...

#include <IMP/algebra/Rotation3D.h>

+ Inheritance diagram for IMP::algebra::Rotation3D:

Detailed Description

3D rotation class.

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.

Public Member Functions

 Rotation3D (const VectorD< 4 > &v, bool assume_normalized=false)
 
 Rotation3D ()
 Create an invalid rotation. More...
 
 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 local position o with respect to the i'th internal quaternion coefficient, for i in [0..3], namely (dx/dQi, dy/dQi, dz/dQi) More...
 
Rotation3D get_inverse () const
 Return the rotation which undoes this rotation. More...
 
bool get_is_valid () const
 
const Vector4Dget_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. More...
 
double get_rotated_one_coordinate (const Vector3D &o, unsigned int coord) const
 Gets only the requested rotation coordinate of the vector. More...
 
Vector3D get_rotation_matrix_row (int i) const
 
Vector3D operator* (const Vector3D &v) const
 Rotate a vector around the origin. More...
 
Rotation3D operator* (const Rotation3D &q) const
 multiply two rotations More...
 
Rotation3D operator/ (const Rotation3D &r) const
 Compute the rotation which when composed with r gives this. More...
 
const Rotation3Doperator/= (const Rotation3D &r)
 
void show (std::ostream &out=std::cout) const
 

Friends

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

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 ( )

Create an invalid rotation.

Definition at line 86 of file Rotation3D.h.

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

Create a rotation from a quaternion.

Exceptions
ValueExceptionif the rotation is not a unit vector.

Definition at line 90 of file Rotation3D.h.

Member Function Documentation

const Vector3D IMP::algebra::Rotation3D::get_derivative ( const Vector3D o,
unsigned int  i 
) const

Return the derivative of the local position o with respect to the i'th internal quaternion coefficient, for i in [0..3], namely (dx/dQi, dy/dQi, dz/dQi)

Rotation3D IMP::algebra::Rotation3D::get_inverse ( ) const

Return the rotation which undoes this rotation.

Definition at line 181 of file Rotation3D.h.

bool IMP::algebra::Rotation3D::get_is_valid ( ) const

returns true is the rotation is valid, false if invalid or not initialized (e.g., only initialized by the empty constructor)

Definition at line 227 of file Rotation3D.h.

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

Return the quaternion so that it can be stored.

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

Definition at line 192 of file Rotation3D.h.

Vector3D IMP::algebra::Rotation3D::get_rotated ( const Vector3D o) const

Rotate a vector around the origin.

Definition at line 154 of file Rotation3D.h.

double IMP::algebra::Rotation3D::get_rotated_one_coordinate ( const Vector3D o,
unsigned int  coord 
) const

Gets only the requested rotation coordinate of the vector.

Definition at line 162 of file Rotation3D.h.

Vector3D IMP::algebra::Rotation3D::operator* ( const Vector3D v) const

Rotate a vector around the origin.

Definition at line 171 of file Rotation3D.h.

Rotation3D IMP::algebra::Rotation3D::operator* ( const Rotation3D q) const

multiply two rotations

Definition at line 199 of file Rotation3D.h.

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Rotation3D IMP::algebra::Rotation3D::operator/ ( const Rotation3D r) const

Compute the rotation which when composed with r gives this.

Definition at line 206 of file Rotation3D.h.

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Friends And Related Function Documentation

Rotation3D compose ( const Rotation3D a,
const Rotation3D b 
)
friend
See Also
Rotation3D

Definition at line 356 of file Rotation3D.h.


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