template<typename _Scalar>
class Eigen::AngleAxis< _Scalar >
Represents a 3D rotation as a rotation angle around an arbitrary 3D axis.
This is defined in the Geometry module.
#include <Eigen/Geometry>
- Parameters
-
_Scalar | the scalar type, i.e., the type of the coefficients. |
- Warning
- When setting up an AngleAxis object, the axis vector must be normalized.
The following two typedefs are provided for convenience:
AngleAxisf
for float
AngleAxisd
for double
Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily mimic Euler-angles. Here is an example:
cout << m << endl << "is unitary: " << m.isUnitary() << endl;
Output:
-2.38e-07 5.96e-08 1
0.969 -0.249 5.96e-08
0.249 0.969 -2.38e-07
is unitary: 1
- Note
- This class is not aimed to be used to store a rotation transformation, but rather to make easier the creation of other rotation (Quaternion, rotation Matrix) and transformation objects.
- See Also
- class Quaternion, class Transform, MatrixBase::UnitX()
Public Member Functions |
| AngleAxis () |
template<typename Derived > |
| AngleAxis (const Scalar &angle, const MatrixBase< Derived > &axis) |
template<typename QuatDerived > |
| AngleAxis (const QuaternionBase< QuatDerived > &q) |
template<typename Derived > |
| AngleAxis (const MatrixBase< Derived > &m) |
template<typename OtherScalarType > |
| AngleAxis (const AngleAxis< OtherScalarType > &other) |
template<typename NewScalarType > |
internal::cast_return_type
< AngleAxis, AngleAxis
< NewScalarType > >::type | cast () const |
template<typename Derived > |
AngleAxis & | fromRotationMatrix (const MatrixBase< Derived > &m) |
| Sets *this from a 3x3 rotation matrix.
|
AngleAxis | inverse () const |
bool | isApprox (const AngleAxis &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const |
RotationMatrixType | matrix () const |
Transform< Scalar, Dim, Isometry > | operator* (const Translation< Scalar, Dim > &t) const |
RotationMatrixType | operator* (const UniformScaling< Scalar > &s) const |
internal::rotation_base_generic_product_selector
< AngleAxis< _Scalar >
, OtherDerived,
OtherDerived::IsVectorAtCompileTime >
::ReturnType | operator* (const EigenBase< OtherDerived > &e) const |
Transform< Scalar, Dim, Mode > | operator* (const Transform< Scalar, Dim, Mode, Options > &t) const |
QuaternionType | operator* (const AngleAxis &other) const |
QuaternionType | operator* (const QuaternionType &other) const |
template<class QuatDerived > |
AngleAxis & | operator= (const QuaternionBase< QuatDerived > &q) |
template<typename Derived > |
AngleAxis & | operator= (const MatrixBase< Derived > &m) |
Matrix3 | toRotationMatrix (void) const |