Namespace inertialsim::geometry::matrix¶

Namespace List > inertialsim > geometry > matrix

Public Functions¶

Type	Name
RotationMatrixArray	FromAxisAngle (const Vector3D & axis, const Scalar1D & angle, bool passive=false) Rotation matrix representation from axis and angle.
RotationMatrixArray	FromEuler (const EulerAngles & angles, const std::string & sequence, bool passive=false) Rotation matrix representation from Euler angles.
RotationMatrixArray	FromMatrix (const RotationMatrixArray & matrix) Rotation matrix representation from rotation matrix.
RotationMatrixArray	FromQuaternion (const Quaternion & quaternion) Rotation matrix representation from quaternion.
RotationMatrixArray	FromRotationVector (const RotationVector & rotation_vector, bool passive=false) Rotation matrix representation from rotation vector.
RotationMatrix	Orthonormalize (const RotationMatrix & matrix) Orthonormalize an invalid rotation matrix using SVD.
RotationMatrixArray	Validate (const RotationMatrixArray & matrix) Validates inputs meet rotation matrix conventions.

Public Functions Documentation¶

function FromAxisAngle¶

Rotation matrix representation from axis and angle.

RotationMatrixArray inertialsim::geometry::matrix::FromAxisAngle (
    const Vector3D & axis,
    const Scalar1D & angle,
    bool passive=false
)

Parameters:

axis Unit vector(s) representing the axis of rotation (3, N).
angle Angle(s) which are applied around the corresponding axis (N).
passive Interpret the rotation as passive.

Returns:

Vector of 3x3 rotation matrices.

function FromEuler¶

Rotation matrix representation from Euler angles.

RotationMatrixArray inertialsim::geometry::matrix::FromEuler (
    const EulerAngles & angles,
    const std::string & sequence,
    bool passive=false
)

Parameters:

angles Euler angles in radians (3, N).
sequence Three-character string defining the axis sequence (e.g., "XYZ").
passive Interpret the rotation as passive.

Returns:

Vector of 3x3 rotation matrices.

function FromMatrix¶

Rotation matrix representation from rotation matrix.

RotationMatrixArray inertialsim::geometry::matrix::FromMatrix (
    const RotationMatrixArray & matrix
)

Parameters:

matrix Vector of 3x3 rotation matrices.

Returns:

The validated vector of matrices.

function FromQuaternion¶

Rotation matrix representation from quaternion.

RotationMatrixArray inertialsim::geometry::matrix::FromQuaternion (
    const Quaternion & quaternion
)

Parameters:

quaternions Quaternions (4, N), with scalar part first.

Returns:

Vector of 3x3 rotation matrices.

function FromRotationVector¶

Rotation matrix representation from rotation vector.

RotationMatrixArray inertialsim::geometry::matrix::FromRotationVector (
    const RotationVector & rotation_vector,
    bool passive=false
)

Parameters:

rotation_vectors Rotation vectors (3, N).
passive Interpret the rotation as passive.

Returns:

Vector of 3x3 rotation matrices.

function Orthonormalize¶

Orthonormalize an invalid rotation matrix using SVD.

RotationMatrix inertialsim::geometry::matrix::Orthonormalize (
    const RotationMatrix & matrix
)

Returns the closest proper rotation matrix to the input as measured by the Frobenius norm. For extremely noisy inputs, this function may return a reflection (determinant -1.0).

Parameters:

matrix 3x3 matrix to orthonormalize.

Returns:

The orthonormalized 3x3 matrix.

function Validate¶

Validates inputs meet rotation matrix conventions.

RotationMatrixArray inertialsim::geometry::matrix::Validate (
    const RotationMatrixArray & matrix
)

Parameters:

matrices Vector of 3x3 matrices.

Returns:

The validated vector of matrices.

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