libt3d  2.6
Public Member Functions | Public Attributes | Friends
R3D Union Reference

A 3D rotation. More...

#include <r3d.h>

List of all members.

Public Member Functions

 R3D (T3DType type, int flags, T3DError error, const double *d1=0x0, const double *d2=0x0)
 R3D constructor.
 R3D (T3DType type=T3D_MATRIX, int flags=0)
 R3D constructor.
 R3D (const R3D *r3d)
 R3D constructor.
 R3D (const T3DMatrix &m)
R3Dinvert (void)
 Invert a R3D.
R3DconvertTo (T3DType type)
 Convert a R3D into another representation.
R3D operator~ (void)
 Inverse of a R3D.
R3D operator* (R3D &r3d)
 Compose two R3D.

Public Attributes

T3DMatrix matrix
 Homogeneous matrix.
T3DUMatrix umatrix
 Uncertain homogeneous matrix.
T3DBryan bryan
 Tait-Bryan angles and translation.
T3DUBryan ubryan
 Uncertain Tait-Bryan.
T3DVector vector
 Rotation vector.
T3DUVector uvector
 Uncertain rotation vector.
T3DType type
 internal representation type.
short flags
 special behavior.
int err
 last error code.

Friends

std::ostream & operator<< (std::ostream &s, const R3D &r3d)
 Output a ASCII R3D description to a stream.

Detailed Description

A 3D rotation.

This union is the base class of rotations. It can hold any representation, but only one at a time. Implicits or explicits conversions can be performed.


Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  s,
const R3D r3d 
) [friend]

Output a ASCII R3D description to a stream.

Parameters:
[in]sStream to dump on.
[in]r3dR3D to dump.
Returns:
reference on the output stream.