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Namespace inertialsim::geometry::axis_angle

Namespace List > inertialsim > geometry > axis_angle

Public Functions

Type Name
AxisAngle FromAxisAngle (const Vector3D & axis, const Scalar1D & angle)
Axis, angle representation from axis and angle.
AxisAngle FromMatrix (const RotationMatrixArray & matrix, bool passive=false)
Axis angle representation from rotation matrix.
AxisAngle FromQuaternion (const Quaternion & quaternion, bool passive=false)
Axis, angle representation from quaternion.
AxisAngle FromRotationVector (const RotationVector & rotation_vector)
Axis, angle representation from rotation vector.
AxisAngle Validate (const Vector3D & axis, const Scalar1D & angle)
Validates inputs meet axis, angle conventions.

Public Functions Documentation

function FromAxisAngle

Axis, angle representation from axis and angle. 

AxisAngle inertialsim::geometry::axis_angle::FromAxisAngle (
    const Vector3D & axis,
    const Scalar1D & angle
)

Parameters:

  • axis Unit vector(s) representing the axis of rotation (3, N) or (3, 1).
  • angle Angle(s) which are applied around the corresponding axis input (N).

Returns:

A tuple containing: * axis: The axis input modified to conform to InertialSim conventions (3, N). * angle: The angle input modified to conform to InertialSim conventions (N).

function FromMatrix

Axis angle representation from rotation matrix. 

AxisAngle inertialsim::geometry::axis_angle::FromMatrix (
    const RotationMatrixArray & matrix,
    bool passive=false
)

Parameters:

  • matrix Vector of rotation matrix.
  • passive Interpret the rotation as passive.

Returns:

A tuple containing: * axis: Unit vector(s) representing the axis of rotation (N, 3). * angle: Angle(s) which are applied around the corresponding axis input (N).

function FromQuaternion

Axis, angle representation from quaternion. 

AxisAngle inertialsim::geometry::axis_angle::FromQuaternion (
    const Quaternion & quaternion,
    bool passive=false
)

Parameters:

  • quaternion Quaternions, with scalar part first (4, N).
  • passive Interpret the rotation as passive.

Returns:

A tuple containing: * axis: Unit vector(s) representing the axis of rotation (3, N). * angle: Angle(s) which are applied around the corresponding axis input (N).

function FromRotationVector

Axis, angle representation from rotation vector. 

AxisAngle inertialsim::geometry::axis_angle::FromRotationVector (
    const RotationVector & rotation_vector
)

Parameters:

  • rotation_vector Rotation vectors (3, N).

Returns:

A tuple containing: * axis: Unit vector(s) representing the axis of rotation (3, N). * angle: Angle(s) which are applied around the corresponding axis input (N).

function Validate

Validates inputs meet axis, angle conventions. 

AxisAngle inertialsim::geometry::axis_angle::Validate (
    const Vector3D & axis,
    const Scalar1D & angle
)

Parameters:

  • axis Unit vector(s) representing the axis of rotation. Shape (3, N) or (3, 1).
  • angle Angle(s) which are applied around the corresponding axis input. Shape (N).

Returns:

A tuple containing: * axis: The axis input modified to conform to InertialSim conventions (3, N). * angle: The angle input modified to conform to InertialSim conventions (N).

The documentation for this class was generated from the following file cpp/include/inertialsim/geometry/rotation_conversions/axis_angle.h