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
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| _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:
Matrix3f m;
cout << m << endl << "is unitary: " << m.isUnitary() << endl;
AngleAxis< float > AngleAxisf
Definition AngleAxis.h:157
Output:
1.19e-07 0 1
0.969 -0.249 0
0.249 0.969 1.19e-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()
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| Scalar & | angle () |
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| Scalar | angle () const |
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| | AngleAxis () |
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| template<typename OtherScalarType > |
| | AngleAxis (const AngleAxis< OtherScalarType > &other) |
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| template<typename Derived > |
| | AngleAxis (const MatrixBase< Derived > &m) |
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| template<typename QuatDerived > |
| | AngleAxis (const QuaternionBase< QuatDerived > &q) |
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| template<typename Derived > |
| | AngleAxis (const Scalar &angle, const MatrixBase< Derived > &axis) |
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| Vector3 & | axis () |
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| const Vector3 & | axis () const |
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| template<typename NewScalarType > |
| internal::cast_return_type< AngleAxis, AngleAxis< NewScalarType > >::type | cast () const |
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template<typename Derived > |
| AngleAxis< Scalar > & | fromRotationMatrix (const MatrixBase< Derived > &mat) |
| | Sets *this from a 3x3 rotation matrix.
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| AngleAxis | inverse () const |
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| bool | isApprox (const AngleAxis &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const |
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| QuaternionType | operator* (const AngleAxis &other) const |
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| QuaternionType | operator* (const QuaternionType &other) const |
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| template<typename Derived > |
| AngleAxis< Scalar > & | operator= (const MatrixBase< Derived > &mat) |
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| template<typename QuatDerived > |
| AngleAxis< Scalar > & | operator= (const QuaternionBase< QuatDerived > &q) |
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| Matrix3 | toRotationMatrix (void) const |
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| AngleAxis< _Scalar > | inverse () const |
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| RotationMatrixType | matrix () const |
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| internal::rotation_base_generic_product_selector< AngleAxis< _Scalar >, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType | operator* (const EigenBase< OtherDerived > &e) const |
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| Transform< Scalar, Dim, Mode > | operator* (const Transform< Scalar, Dim, Mode, Options > &t) const |
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| Transform< Scalar, Dim, Isometry > | operator* (const Translation< Scalar, Dim > &t) const |
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| RotationMatrixType | operator* (const UniformScaling< Scalar > &s) const |
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| RotationMatrixType | toRotationMatrix () const |
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template<typename _Scalar >
template<typename QuatDerived >
Set *this from a unit quaternion.
The resulting axis is normalized, and the computed angle is in the [0,pi] range.
This function implicitly normalizes the quaternion q.