Given we already have rotation from_fixed_xyz which is a form of euler
angles, this function should probably have a more descriptive name
describing which Euler angles it uses.
On Feb 2, 2009, at 10:10 PM, Notification of IMP commits wrote:
Author:
Date: 2009-02-02 22:10:39 -0800 (Mon, 02 Feb 2009)
New Revision: 1414
Modified:
trunk/modules/algebra/include/Rotation3D.h
Log:
add rotation_from_euler
Modified: trunk/modules/algebra/include/Rotation3D.h
===================================================================
--- trunk/modules/algebra/include/Rotation3D.h 2009-02-03 03:11:05
UTC (rev 1413)
+++ trunk/modules/algebra/include/Rotation3D.h 2009-02-03 06:10:39
UTC (rev 1414)
+{
+ Float a,b,c,d;
+ Float c1,c2,c3,s1,s2,s3;
+ c2=cos(theta/2);c1=cos(phi/2);c3=cos(psi/2);
+ s2=sin(theta/2);s1=sin(phi/2);s3=sin(psi/2);
+ a = c1*c2*c3+s1*s2*s3;
+ b = s1*c2*c3-c1*s2*s3;
+ c = c1*s2*c3+s1*c2*s3;
+ d = c1*c2*s3-s1*s2*c3;
+ return Rotation3D(a,b,c,d);
+}
//! Generate a Rotation3D object from a rotation matrix
/**
\throw ValueException if the rotation is not a rotation matrix.
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