Utility functions for angles and rotations.


Functions
double  F3DArcSinCos (double dSinus, double dCosinus)
void  F3DLimit (double &io_dVal, double in_dMin, double in_dMax)
void  F3DQuatToMat (const CSIBCQuaterniond &in_quat, CSIBCRotMatd &out_mat)
void  F3DMatToQuat (const CSIBCRotMatd &in_mat, CSIBCQuaterniond &out_quat)
void  F3DEulerToQuat (const CSIBCVector3Dd &in_vct, CSIBCQuaterniond &out_quat)
void  F3DEulerToMat (const CSIBCVector3Dd &in_vct, CSIBCRotMatd &out_mat)
void  F3DMatToEuler (const CSIBCRotMatd &in_mat, CSIBCVector3Dd &out_vct)
void  F3DMatToEulerUsingTarget (const CSIBCRotMatd &in_mat, CSIBCVector3Dd &inout_vct)
void  F3DQuatToAxisAngle (const CSIBCQuaterniond &in_quat, CSIBCVector3Dd &out_vctAxis, double &out_dAngle)
void  F3DAxisAngleToQuat (const CSIBCVector3Dd &in_vctAxis, const double &in_dAngle, CSIBCQuaterniond &out_quat)
double  F3DBoundAngleInMinus2PITo2PI (double in_dDesiredAngle)
void  F3DBoundAngleInZeroToTwoPI (double &in_dAngle)
void  F3DBoundAngleInMinusPIToPI (double &in_dAngle)
double  F3DGetUnboundedAngle (double in_dDesiredAngle, double in_dRefAngle)
void  F3DBoundAnglesInMatrixInMinus2PITo2PI (CSIBCMatrixMNd &io_matMN, int in_nFirstRow, int in_nLastRow)
double  F3DGetClosestAngle (double in_dAngle, double in_dFirstAngle, double in_dSecondAngle)

Function Documentation

double F3DArcSinCos ( double  dSinus,
double  dCosinus  
)

Returns the angle corresponding to the given sine and cosine values.

Parameters:
dSinus  The sine value of the desired angle.
dCosinus  The cosine value of the desired angle.
Returns:
double The angle (in radians) corresponding to the sine and cosine values.

void F3DLimit ( double &  io_dVal,
double  in_dMin,
double  in_dMax  
)

Limits io_dVal between in_dMin and in_dMax.

Parameters:
io_dVal  Value to limit, receives the result of the limiting.
in_dMin  The minimum value for io_dVal.
in_dMax  The maximum value for io_dVal.

void F3DQuatToMat ( const CSIBCQuaterniond &  in_quat,
CSIBCRotMatd &  out_mat  
)

Converts a quaternion into a rotation matrix.

Parameters:
in_quat  Quaternion to convert.
out_mat  Rotation matrix to receive the converted quaternion.

void F3DMatToQuat ( const CSIBCRotMatd &  in_mat,
CSIBCQuaterniond &  out_quat  
)

Converts a rotation matrix into a quaternion.

Parameters:
in_mat  Rotation matrix to convert.
out_quat  Quaternion to receive the converted rotation matrix.

void F3DEulerToQuat ( const CSIBCVector3Dd &  in_vct,
CSIBCQuaterniond &  out_quat  
)

Converts a set of euler angles (pitch-roll-yaw) to a quaternion.

Parameters:
in_vct  Vector containing euler angles to convert.
out_quat  Quaternion to receive the converted euler angles.

void F3DEulerToMat ( const CSIBCVector3Dd &  in_vct,
CSIBCRotMatd &  out_mat  
)

Converts a set of euler angles (pitch-roll-yaw) to a rotation matrix.

Parameters:
in_vct  Vector containing euler angles to convert.
out_mat  Rotation matrix to receive the converted euler angles.

void F3DMatToEuler ( const CSIBCRotMatd &  in_mat,
CSIBCVector3Dd &  out_vct  
)

Converts a rotation matrix into a set of euler angles (pitch-roll-yaw).

Parameters:
in_mat  Rotation matrix to convert.
out_vct  Vector to receive the euler angles for the converted rotation matrix.

void F3DMatToEulerUsingTarget ( const CSIBCRotMatd &  in_mat,
CSIBCVector3Dd &  inout_vct  
)

Converts a rotation matrix into a set of euler angles (pitch-roll-yaw), which are closest to inout_vct. This is provided because a single rotation matrix produces an infinite number of possible euler angle representations. The result is stored in in_outvct.

Parameters:
in_mat  Rotation matrix to convert.
inout_vct  Vector containing the euler angles that most closely represent the desired output euler angles. Receives the output of the converted rotation matrix.

void F3DQuatToAxisAngle ( const CSIBCQuaterniond &  in_quat,
CSIBCVector3Dd &  out_vctAxis,
double &  out_dAngle  
)

Converts a quaternion to a angle rotation about an axis.

Parameters:
in_quat  Quaternion to convert.
out_vctAxis  Vector to receive the rotation axis given by the quaternion.
out_dAngle  double to receive the rotation about out_dAngle (in radians).

void F3DAxisAngleToQuat ( const CSIBCVector3Dd &  in_vctAxis,
const double &  in_dAngle,
CSIBCQuaterniond &  out_quat  
)

Converts a rotation angle about a given axis to a quaternion.

Parameters:
in_vctAxis  Axis of rotation.
in_dAngle  Rotation angle (in radians) of rotation about in_vctAngle
out_quat  Quaternion to receive the converted axis rotation.

double F3DBoundAngleInMinus2PITo2PI ( double  in_dDesiredAngle  ) 

Returns an angle corresponding to in_dDesiredAngle, in the range [-M_2PI, M_2PI].

Parameters:
in_dDesiredAngle  Angle to be bounded.
Returns:
double Angle corresponding to in_dDesiredAngle, bounded between [-M_2PI and M_2PI].

void F3DBoundAngleInZeroToTwoPI ( double &  in_dAngle  ) 

Returns an angle corresponding to in_dAngle, in the range [0.0f, M_2PI].

Parameters:
in_dAngle  Angle to be bounded.
Returns:
double Angle corresponding to in_dDesiredAngle, bounded between [0.0f,M_2PI].

void F3DBoundAngleInMinusPIToPI ( double &  in_dAngle  ) 

Returns an angle corresponding to in_dAngle, in the range [-M_2PI, M_2PI]

Parameters:
in_dAngle  Angle to be bounded.
Returns:
double Angle corresponding to in_dDesiredAngle, bounded between p-M_PI, M_PI].

double F3DGetUnboundedAngle ( double  in_dDesiredAngle,
double  in_dRefAngle  
)

Returns an angle corresponding to in_dDesiredAngle, which is as close as possible to in_dRefAngle.

Parameters:
in_dDesiredAngle  Desired angle, bounded by [-M_PI, M_PI].
in_dRefAngle  Reference angle, unbounded.
Returns:
double The angle corresponding to in_dDesiredAngle, which is as close as possible to in_dRefAngle

void F3DBoundAnglesInMatrixInMinus2PITo2PI ( CSIBCMatrixMNd &  io_matMN,
int  in_nFirstRow,
int  in_nLastRow  
)

Bounds the angles in the first column of io_matMN, beginning at row , and ending at row in_nLastRow to angles in the range [-M_2PI, M_2PI].

Parameters:
io_matMN  Matrix containing angles in the first column to be bounded.
in_nFirstRow  First row of io_matMN containing angles to be bound, zero-indexed (if negative, starts at the first row).
in_nLastRow  Last row of io_matMN containing angles to be bound, zero-indexed (if negative, ends at the last row).

double F3DGetClosestAngle ( double  in_dAngle,
double  in_dFirstAngle,
double  in_dSecondAngle  
)

Determines which angle in_dAngle is closest to, in_dFirstAngle, or in_dSecondAngle. Note that in_dAngle should not be between in_dFirstAngle and in_dSecondAngle (in counter-clockwise order).

Parameters:
in_dAngle  Angle for comparison.
in_dFirstAngle  First angle for close-ness comparison.
in_dSecondAngle  Second angle for close-ness comparison.
Returns:
double in_dFirstAngle or in_dSecondAngle, whichever is closest to in_dAngle.