AANGLE Class Reference

Class for representation of orientation by an angle around an axis. More...

#include <AAngle.h>

Public Member Functions
	AANGLE ()
	Default constructor.
	AANGLE (const AANGLE &source)
	AANGLE (REAL x, REAL y, REAL z, REAL angle)
	Constructs an axis-angle object from four REAL values.
	AANGLE (const VECTOR3 &v, REAL angle)
	Constructs an axis-angle object from a vector and a REAL value.
	AANGLE (const ORIGIN3 &v, REAL angle)
	Constructs an axis-angle object from a vector and a REAL value.
	AANGLE (const MATRIX3 &m)
	Constructs an axis-angle object from a 3x3 rotation matrix.
	AANGLE (const QUAT &q)
	Copy constructor.
	AANGLE (const MATRIX3 &m, const VECTOR3 &axis)
	Constructs an axis-angle object from a 3x3 rotation matrix and a desired axis.
AANGLE &	set (const VECTOR3 &v, REAL angle)
	Sets this object from a three-dimensional vector and a REAL value. More...
AANGLE &	set (const ORIGIN3 &v, REAL angle)
	Sets this object from a three-dimensional vector and a REAL value. More...
AANGLE &	operator= (const MATRIX3 &m)
	Sets the object from a rotation matrix.
AANGLE &	operator= (const QUAT &q)
	Sets axis angle from unit quaternion. More...
AANGLE &	operator= (const AANGLE &source)
	Copies a axis-angle object.
void	set (const MATRIX3 &m, const VECTOR3 &axis)
	Sets the object from a rotation matrix and rotation axis. More...
AANGLE	operator* (const AANGLE &a) const
	Multiplies two axis-angle representations. More...
AANGLE &	operator*= (const AANGLE &a)
	Multiplies this axis-angle representation by another and stores the result in this More...

Static Public Member Functions
static REAL	safe_sqrt (REAL x)
	Does a "safe" square root - input values sufficiently close to -0 are returned as 0.

Public Attributes
REAL	angle
REAL	x
REAL	y
REAL	z

Detailed Description

Class for representation of orientation by an angle around an axis.

Member Function Documentation

AANGLE AANGLE::operator*

(

const AANGLE &

a

)

const

Multiplies two axis-angle representations.

This has the effect of performing a rotation by a, then performing a rotation by this.

References AANGLE().

AANGLE & AANGLE::operator*=

(

const AANGLE &

a

)

Multiplies this axis-angle representation by another and stores the result in this

This has the effect of performing a rotation by a, then performing a rotation by this.

AANGLE & AANGLE::operator=

(

const QUAT &

q

)

Sets axis angle from unit quaternion.

Todo:

test this method

References QUAT::normalize(), safe_sqrt(), QUAT::w, QUAT::x, QUAT::y, and QUAT::z.

AANGLE & AANGLE::set	(	const VECTOR3 &	v,
		REAL	angle
	)

Sets this object from a three-dimensional vector and a REAL value.

Note

automatically normalizes the axis

Referenced by AANGLE().

AANGLE & AANGLE::set	(	const ORIGIN3 &	v,
		REAL	angle
	)

Sets this object from a three-dimensional vector and a REAL value.

Note

automatically normalizes the axis

void AANGLE::set	(	const MATRIX3 &	m,
		const VECTOR3 &	axis
	)

Sets the object from a rotation matrix and rotation axis.

Note

automatically normalizes the axis

References VECTOR3::pose, and safe_sqrt().

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The documentation for this class was generated from the following files:

• /home/drum/Ravelin.new/include/Ravelin/AAngle.h
• /home/drum/Ravelin.new/src/AAngle.cpp