#include <xsi_rotation.h>

Class Description

Provides conversion facilities for various rotation representations including Euler angles, Quaternion, Axis angle and rotation matrix.

Note:: All angle values are expressed in radians.

See also:: CTransformation, CQuaternion

Example:

                using namespace XSI;
                using namespace MATH;

                Application app;
                Model root = app.GetActiveSceneRoot();

                // Create a cube
                X3DObject myCube;
                root.AddGeometry( L"Cube", L"MeshSurface",L"",myCube );

                // Rotate it 60 degrees
                KinematicState  cubeKine = myCube.GetKinematics().GetGlobal();
                cubeKine.PutParameterValue( L"rotx", 60.0 );

                // Get the current rotation for the cube
                CRotation cubeRotation = cubeKine.GetTransform().GetRotation();

                // Halve the current rotation angle values
                CVector3 eulerAngles = cubeRotation.GetXYZAngles();
                eulerAngles.ScaleInPlace( 0.5 );

                // Put the halved value back into x
                cubeKine.PutParameterValue( L"rotx", RadiansToDegrees( eulerAngles.GetX() ) );

List of all members.

Public Types
enum	RotationOrder { siXYZ = 0, siXZY = 1, siYXZ = 2, siYZX = 3, siZXY = 4, siZYX = 5 }
Public Member Functions
	CRotation ()
	CRotation (const CRotation &in_rotation)
	CRotation (const CVector3 &in_EulerAngles, RotationOrder in_RotOrder=siXYZ)
	CRotation (double in_dX, double in_dY, double in_dZ, RotationOrder in_RotOrder=siXYZ)
	CRotation (const CQuaternion &in_Quat)
	CRotation (const CVector3 &in_Axis, double in_dAngle)
	CRotation (const CMatrix3 &in_Matrix)
	~CRotation ()
CRotation &	operator= (const CRotation &in_rotation)
CRotation &	Copy (const CRotation &in_SrcRot)
CVector3	GetXYZAngles () const
void	GetXYZAngles (double &io_dX, double &io_dY, double &io_dZ) const
RotationOrder	GetRotationOrder () const
void	PutRotationOrder (RotationOrder in_RotationOrder)
CRotation &	SetFromXYZAngles (const CVector3 &in_EulerAngles, RotationOrder in_Order=siXYZ)
CRotation &	SetFromXYZAngles (double in_dX, double in_dY, double in_dZ, RotationOrder in_Order=siXYZ)
CRotation &	SetFromXYZAxes (const CVector3 &in_XAxis, const CVector3 &in_YAxis, const CVector3 &in_ZAxis)
CRotation &	operator*= (const CRotation &in_Rotation)
CRotation &	MulInPlace (const CRotation &in_Rotation)
CRotation &	Mul (const CRotation &in_Rotation1, const CRotation &in_Rotation2)
CRotation &	InvertInPlace ()
CRotation &	Invert (const CRotation &in_Rot)
CQuaternion	GetQuaternion () const
CRotation &	SetFromQuaternion (const CQuaternion &in_Quat)
CRotation &	operator= (const CQuaternion &in_Quat)
CVector3	GetAxisAngle (double &io_dAngle) const
CRotation &	SetFromAxisAngle (const CVector3 &in_Axis, double in_dAngle)
CMatrix3	GetMatrix () const
CRotation &	SetFromMatrix (const CMatrix3 &in_Matrix)
CRotation &	operator= (const CMatrix3 &in_Matrix)
void	SetIdentity ()
bool	EpsilonEquals (const CRotation &in_Rot, double in_dEpsilon) const
bool	Equals (const CRotation &in_Rot) const
bool	operator== (const CRotation &in_Rot) const
bool	operator!= (const CRotation &in_Rot) const

Member Enumeration Documentation

enum RotationOrder

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Defines the rotation order of a rotation for the Euler angles representation.

Enumerator:

siXYZ	X, Y, Z order Search for all occurrences
siXZY	X, Z, Y order Search for all occurrences
siYXZ	Y, X, Z order Search for all occurrences
siYZX	Y, Z, X order Search for all occurrences
siZXY	Z, X, Y order Search for all occurrences
siZYX	Z, Y, X order Search for all occurrences

Constructor & Destructor Documentation

CRotation ( )

Default constructor.

CRotation ( const CRotation & in_rotation )

Copy constructor.

Parameters:

in_rotation Rotation to copy

CRotation	(	const CVector3 &	in_EulerAngles,
		RotationOrder	in_RotOrder = `siXYZ`
	)

Constructor (from CVector3 of Euler angles).

Parameters:

in_EulerAngles	Euler angles to construct from
in_RotOrder	Rotation order to use

See also:: CRotation::SetFromXYZAngles, CRotation::PutRotationOrder

CRotation	(	double	in_dX,
		double	in_dY,
		double	in_dZ,
		RotationOrder	in_RotOrder = `siXYZ`
	)

Constructor (from XYZ Euler angles).

Parameters:

in_dX	X angle
in_dY	Y angle
in_dZ	Z angle
in_RotOrder	Rotation order to use

See also:: CRotation::SetFromXYZAngles, CRotation::PutRotationOrder

CRotation ( const CQuaternion & in_Quat )

Constructor (from a quaternion).

Parameters:

in_Quat Quaternion to construct from

See also:: CRotation::GetQuaternion, CRotation::SetFromQuaternion

CRotation	(	const CVector3 &	in_Axis,
		double	in_dAngle
	)

Constructor (using axis angle representation).

Parameters:

in_Axis	Axis of rotation
in_dAngle	Rotation angle around the axis

See also:: CRotation::GetAxisAngle, CRotation::SetFromAxisAngle

CRotation ( const CMatrix3 & in_Matrix )

Constructor (from a rotation matrix).

Parameters:

in_Matrix Rotation matrix

See also:: CRotation::GetMatrix, CRotation::SetFromMatrix

~CRotation ( )

Default destructor.

Member Function Documentation

CRotation& operator= ( const CRotation & in_rotation )

Assignment operator.

Parameters:

in_rotation Rotation to copy

Returns:: A reference to this rotation.

CRotation& Copy ( const CRotation & in_SrcRot )

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Copies the content of another rotation.

Parameters:

in_SrcRot Rotation to copy

Returns:: This rotation

CVector3 GetXYZAngles ( ) const

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Returns the Euler angles representation of the rotation as a CVector3.

Returns:: CVector3 Vector containing the X, Y and Z Euler angles

See also:: CRotation::SetFromXYZAngles, CRotation::GetRotationOrder

void GetXYZAngles	(	double &	io_dX,
		double &	io_dY,
		double &	io_dZ
	)		const

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Returns the Euler angles's representation of the rotation.

Parameters:

io_dX	X angle
io_dY	Y angle
io_dZ	Z angle

See also:: CRotation::SetFromXYZAngles, CRotation::GetRotationOrder

RotationOrder GetRotationOrder ( ) const

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Returns the rotation order of this rotation for the Euler angles representation.

Returns:: CRotation::RotationOrder

void PutRotationOrder ( RotationOrder in_RotationOrder )

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Sets the rotation order for the Euler angles representation.

Parameters:

in_RotationOrder New rotation order to use

See also:: CRotation::GetRotationOrder

CRotation& SetFromXYZAngles	(	const CVector3 &	in_EulerAngles,
		RotationOrder	in_Order = `siXYZ`
	)

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Sets the current rotation from Euler angles.

Parameters:

in_EulerAngles	Vector containing the rotation angles
in_Order	Rotation order

Returns:: This rotation

See also:: CRotation::GetXYZAngles, CRotation::PutRotationOrder

CRotation& SetFromXYZAngles	(	double	in_dX,
		double	in_dY,
		double	in_dZ,
		RotationOrder	in_Order = `siXYZ`
	)

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Sets the rotation from Euler angles.

Parameters:

in_dX	X angle
in_dY	Y angle
in_dZ	Z angle
in_Order	Requested rotation order

Returns:: This rotation

See also:: CRotation::GetXYZAngles, CRotation::PutRotationOrder

CRotation& SetFromXYZAxes	(	const CVector3 &	in_XAxis,
		const CVector3 &	in_YAxis,
		const CVector3 &	in_ZAxis
	)

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Sets this rotation from three orthonormal axes.

Warning:: No verification is performed about their orthonormality

Parameters:

in_XAxis	The X axis
in_YAxis	The Y axis
in_ZAxis	The Z axis

Returns:: This rotation

CRotation& operator*= ( const CRotation & in_Rotation )

Multiplies this rotation with another one in place.

Parameters:

in_Rotation Rotation to multiply

Returns:: This rotation

CRotation& MulInPlace ( const CRotation & in_Rotation )

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Multiplies this rotation with another one in place.

Parameters:

in_Rotation Rotation to multiply

Returns:: This rotation

CRotation& Mul	(	const CRotation &	in_Rotation1,
		const CRotation &	in_Rotation2
	)

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Stores the result of the multiplication of two rotations.

Parameters:

in_Rotation1	First rotation
in_Rotation2	Second rotation

Returns:: This rotation

CRotation& InvertInPlace ( )

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Inverts the rotation in place.

Returns:: This rotation

CRotation& Invert ( const CRotation & in_Rot )

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Stores the invert of a rotation.

Parameters:

in_Rot Rotation to invert

Returns:: This rotation

CQuaternion GetQuaternion ( ) const

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Returns the quaternion representation of the rotation.

Returns:: CQuaternion

See also:: CRotation::SetFromQuaternion

CRotation& SetFromQuaternion ( const CQuaternion & in_Quat )

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Sets the rotation from a quaternion.

Parameters:

in_Quat Quaternion to set from

Returns:: This rotation

See also:: CRotation::GetQuaternion

CRotation& operator= ( const CQuaternion & in_Quat )

Sets the rotation from a quaternion.

Parameters:

in_Quat Quaternion to set from

Returns:: This rotation

See also:: CRotation::SetFromQuaternion

CVector3 GetAxisAngle ( double & io_dAngle ) const

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Returns the axis angle representation of the rotation.

Parameters:

io_dAngle Rotation angle around the axis

Returns:: CVector3 Axis of rotation

See also:: CRotation::SetFromAxisAngle

CRotation& SetFromAxisAngle	(	const CVector3 &	in_Axis,
		double	in_dAngle
	)

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Sets the rotation from an axis angle.

Parameters:

in_Axis	Axis of rotation
in_dAngle	Rotation angle around the axis

Returns:: This rotation

See also:: CRotation::GetAxisAngle

CMatrix3 GetMatrix ( ) const

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Returns the rotation matrix.

Returns:: CMatrix3

See also:: CRotation::SetFromMatrix

CRotation& SetFromMatrix ( const CMatrix3 & in_Matrix )

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Sets the rotation from a rotation matrix.

Parameters:

in_Matrix Rotation matrix

Returns:: This rotation

See also:: CRotation::GetMatrix

CRotation& operator= ( const CMatrix3 & in_Matrix )

Sets the rotation from a rotation matrix.

Parameters:

in_Matrix Rotation matrix

Returns:: This rotation

See also:: CRotation::SetFromMatrix

void SetIdentity ( )

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Sets the rotation to identity rotation.

bool EpsilonEquals	(	const CRotation &	in_Rot,
		double	in_dEpsilon
	)		const

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Tests the equality of this rotation against in_Rot, with a tolerance of in_dEpsilon.

Parameters:

in_Rot	Rotation to compare against
in_dEpsilon	Tolerance. Rotations are considered equal if each parameter pair has a difference lower than in_dEpsilon.

Returns:: true if rotations are approximately equal; false if not equal

See also:: CRotation::Equals

bool Equals ( const CRotation & in_Rot ) const

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Performs exact comparison of two quaternions.

Note:: Each parameter of both quaternions must be exactly the same for a match.

Parameters:

in_Rot Rotation to compare against

See also:: CRotation::EpsilonEquals

bool operator== ( const CRotation & in_Rot ) const

Performs exact comparison of two quaternions.

Note:: Each parameter of both quaternions must be exactly the same for a match.

Parameters:

in_Rot Rotation to compare against

See also:: CRotation::EpsilonEquals, CRotation::Equals

bool operator!= ( const CRotation & in_Rot ) const

Inequality operator tests the strict inequality of this rotation with the rotation in_rotation.

Parameters:

in_Rot Operand rotation.

Returns:: true if equal else false.

See also:: CRotation::Equals

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

xsi_rotation.h

Class Description

Public Types

Public Member Functions

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation