Designed to contain rotation data of the positional tracking. It inherits from the generic Matrix3f. More...

Functions
	Rotation ()
	empty Rotation default constructor. More...

	Rotation (const Rotation &rotation)
	Rotation copy constructor (deep copy). More...

	Rotation (const Matrix3f &mat)
	Rotation copy constructor (deep copy). More...

	Rotation (const Orientation &orientation)
	Rotation constructor from an Orientation. More...

	Rotation (const float angle, const Translation &axis)
	Creates a Rotation representing the 3D rotation of angle around an arbitrary 3D axis. More...

void	setOrientation (const Orientation &orientation)
	Sets the Rotation from an Orientation. More...

Orientation	getOrientation () const
	Returns the Orientation corresponding to the current Rotation. More...

float3	getRotationVector ()
	Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula. More...

void	setRotationVector (const float3 &vec_rot)
	Sets the Rotation from a rotation vector (using Rodrigues' transformation). More...

float3	getEulerAngles (bool radian=true) const
	Converts the Rotation as Euler angles. More...

void	setEulerAngles (const float3 &euler_angles, bool radian=true)
	Sets the Rotation from the Euler angles. More...

Matrix3f	operator* (const Matrix3f &mat) const
	Gives the result of the multiplication between two Matrix3f. More...

Matrix3f	operator* (const float &scalar) const
	Gives the result of the multiplication between a Matrix3f and a scalar. More...

Matrix3f	operator+ (const Matrix3f &mat) const
	Gives the result of the addition between two Matrix3f. More...

Matrix3f	operator+ (const float &scalar) const
	Gives the result of the addition between a Matrix3f and a scalar. More...

Matrix3f	operator- (const Matrix3f &mat) const
	Gives the result of the subtraction between two Matrix3f. More...

Matrix3f	operator- (const float &scalar) const
	Gives the result of the subtraction between a Matrix3f and a scalar. More...

bool	operator== (const Matrix3f &mat) const
	Test two Matrix3f equality. More...

bool	operator!= (const Matrix3f &mat) const
	Test two Matrix3f inequality. More...

float &	operator() (int u, int v)
	Gets access to a specific point in the Matrix3f (read / write). More...

void	inverse ()
	Sets the Matrix3f to its inverse. More...

void	transpose ()
	Sets the Matrix3f to its transpose. More...

void	setIdentity ()
	Sets the Matrix3f to identity. More...

void	setZeros ()
	Sets the Matrix3f to zero. More...

String	getInfos ()
	Returns the components of the Matrix3f in a String. More...

Static Functions
static Matrix3f	inverse (const Matrix3f &rotation)
	Returns the inverse of a Matrix3f. More...

static Matrix3f	transpose (const Matrix3f &rotation)
	Returns the transpose of a Matrix3f. More...

static Matrix3f	identity ()
	Creates an identity Matrix3f. More...

static Matrix3f	zeros ()
	Creates a Matrix3f filled with zeros. More...

Attributes
String	matrix_name
	Name of the matrix (optional). More...

Detailed Description

Designed to contain rotation data of the positional tracking. It inherits from the generic Matrix3f.

Constructor and Destructor

◆ Rotation() [1/5]

Rotation ( )

empty Rotation default constructor.

◆ Rotation() [2/5]

Rotation ( const Rotation & rotation )

Rotation copy constructor (deep copy).

Parameters

rotation : the Rotation to copy.

◆ Rotation() [3/5]

Rotation ( const Matrix3f & mat )

Rotation copy constructor (deep copy).

Parameters

mat	: the mat to copy.

◆ Rotation() [4/5]

Rotation ( const Orientation & orientation )

Rotation constructor from an Orientation.

It converts the Orientation representation to the Rotation one.

Parameters

orientation : the Orientation to be used.

◆ Rotation() [5/5]

Rotation	(	const float	angle,
		const Translation &	axis
	)

Creates a Rotation representing the 3D rotation of angle around an arbitrary 3D axis.

Parameters

angle	: the rotation angle in rad.
axis	: the 3D axis to rotate around.

Functions

◆ setOrientation()

void setOrientation ( const Orientation & orientation )

Sets the Rotation from an Orientation.

Parameters

orientation : the Orientation containing the rotation to set.

◆ getOrientation()

Orientation getOrientation ( ) const

Returns the Orientation corresponding to the current Rotation.

Returns: The rotation of the current orientation.

◆ getRotationVector()

float3 getRotationVector ( )

Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula.

Returns: The rotation vector.

◆ setRotationVector()

void setRotationVector ( const float3 & vec_rot )

Sets the Rotation from a rotation vector (using Rodrigues' transformation).

Parameters

vec_rot : the rotation Vector.

◆ getEulerAngles()

float3 getEulerAngles ( bool radian = true ) const

Converts the Rotation as Euler angles.

Parameters

radian : Defines if the angle in is radian or degree

Returns: The Euler angles, as a float3 representing the rotations around the X, Y and Z axes. (YZX convention)

◆ setEulerAngles()

void setEulerAngles	(	const float3 &	euler_angles,
		bool	radian = `true`
	)

Sets the Rotation from the Euler angles.

Parameters

euler_angles	: The Euler angles, as a float3
radian	: Defines if the angle in is radian or degree

◆ operator*() [1/2]

Matrix3f operator* ( const Matrix3f & mat ) const

inherited

Gives the result of the multiplication between two Matrix3f.

◆ operator*() [2/2]

Matrix3f operator* ( const float & scalar ) const

inherited

Gives the result of the multiplication between a Matrix3f and a scalar.

◆ operator+() [1/2]

Matrix3f operator+ ( const Matrix3f & mat ) const

inherited

Gives the result of the addition between two Matrix3f.

◆ operator+() [2/2]

Matrix3f operator+ ( const float & scalar ) const

inherited

Gives the result of the addition between a Matrix3f and a scalar.

◆ operator-() [1/2]

Matrix3f operator- ( const Matrix3f & mat ) const

inherited

Gives the result of the subtraction between two Matrix3f.

◆ operator-() [2/2]

Matrix3f operator- ( const float & scalar ) const

inherited

Gives the result of the subtraction between a Matrix3f and a scalar.

◆ operator==()

bool operator== ( const Matrix3f & mat ) const

inherited

Test two Matrix3f equality.

◆ operator!=()

bool operator!= ( const Matrix3f & mat ) const

inherited

Test two Matrix3f inequality.

◆ operator()()

float& operator()	(	int	u,
		int	v
	)

inherited

Gets access to a specific point in the Matrix3f (read / write).

Parameters

u	: specify the row
v	: specify the column

Returns: The value at the u, v coordinates.

◆ inverse() [1/2]

void inverse ( )

inherited

Sets the Matrix3f to its inverse.

◆ inverse() [2/2]

static Matrix3f inverse ( const Matrix3f & rotation )

staticinherited

Returns the inverse of a Matrix3f.

Parameters

rotation : the Matrix3f to compute the inverse from.

Returns: The inverse of the given Matrix3f

◆ transpose() [1/2]

void transpose ( )

inherited

Sets the Matrix3f to its transpose.

◆ transpose() [2/2]

static Matrix3f transpose ( const Matrix3f & rotation )

staticinherited

Returns the transpose of a Matrix3f.

Parameters

rotation : the Matrix3f to compute the transpose from.

Returns: The transpose of the given Matrix3f

◆ setIdentity()

void setIdentity ( )

inherited

Sets the Matrix3f to identity.

◆ identity()

static Matrix3f identity ( )

staticinherited

Creates an identity Matrix3f.

Returns: A Matrix3f set to identity.

◆ setZeros()

void setZeros ( )

inherited

Sets the Matrix3f to zero.

◆ zeros()

static Matrix3f zeros ( )

staticinherited

Creates a Matrix3f filled with zeros.

Returns: A Matrix3f set to zero.

◆ getInfos()

String getInfos ( )

inherited

Returns the components of the Matrix3f in a String.

Returns: A String containing the components of the current Matrix3f.

Variables

◆ matrix_name

String matrix_name

inherited

Name of the matrix (optional).

Functions

Static Functions

Attributes

Detailed Description

Constructor and Destructor

◆ Rotation() [1/5]

◆ Rotation() [2/5]

◆ Rotation() [3/5]

◆ Rotation() [4/5]

◆ Rotation() [5/5]

Functions

◆ setOrientation()

◆ getOrientation()

◆ getRotationVector()

◆ setRotationVector()

◆ getEulerAngles()

◆ setEulerAngles()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator==()

◆ operator!=()

◆ operator()()

◆ inverse() [1/2]

◆ inverse() [2/2]

◆ transpose() [1/2]

◆ transpose() [2/2]

◆ setIdentity()

◆ identity()

◆ setZeros()

◆ zeros()

◆ getInfos()

Variables

◆ matrix_name