MEulerRotation Class Reference [OpenMaya - API module for common classes]

`#include <MEulerRotation.h>`

Collaboration diagram for MEulerRotation:

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Detailed Description

Euler Rotation Math.

This class provides methods for working with euler angle rotations. Euler angles are described by rotations in radians around the x, y, and z axes, and the order in which those rotations occur.

Examples:

Public Types

enum  RotationOrder {
kXYZ, kYZX, kZXY, kXZY,
kYXZ, kZYX
}
Valid rotaton orders. More...

Public Member Functions

MEulerRotation ()
MEulerRotation (const MEulerRotation &src)
MEulerRotation (const MVector &v, RotationOrder ord=kXYZ)
MEulerRotation (double xx, double yy, double zz, RotationOrder ord=kXYZ)
~MEulerRotation ()
MEulerRotationoperator= (const MEulerRotation &src)
MEulerRotationoperator= (const MQuaternion &q)
MEulerRotationoperator= (const MMatrix &m)
MEulerRotationoperator= (const MVector &v)
MEulerRotationsetValue (const MVector &v, RotationOrder ord=kXYZ)
MEulerRotationsetValue (double xx, double yy, double zz, RotationOrder ord=kXYZ)
MQuaternion asQuaternion () const
MMatrix asMatrix () const
MVector asVector () const
double operator[] (unsigned int i) const
MEulerRotation operator+ (const MEulerRotation &other) const
MEulerRotationoperator+= (const MEulerRotation &other)
MEulerRotation operator- (const MEulerRotation &other) const
MEulerRotationoperator-= (const MEulerRotation &other)
MEulerRotation operator- () const
MEulerRotation operator* (const MEulerRotation &other) const
MEulerRotation operator* (const MQuaternion &other) const
MEulerRotation operator* (double other) const
MEulerRotationoperator*= (const MEulerRotation &other)
MEulerRotationoperator*= (const MQuaternion &other)
MEulerRotationoperator*= (double other)
bool operator== (const MEulerRotation &other) const
bool operator!= (const MEulerRotation &other) const
bool isEquivalent (const MEulerRotation &other, double tolerance=1.0e-10) const
bool isZero (double tolerance=1.0e-10) const
MEulerRotationincrementalRotateBy (const MVector &axis, double angle)
MEulerRotation inverse () const
MEulerRotationinvertIt ()
MEulerRotation reorder (RotationOrder ord) const
MEulerRotationreorderIt (RotationOrder ord)
MEulerRotation bound () const
MEulerRotationboundIt (const MEulerRotation &src)
MEulerRotationboundIt ()
MEulerRotation alternateSolution () const
MEulerRotationsetToAlternateSolution (const MEulerRotation &src)
MEulerRotationsetToAlternateSolution ()
MEulerRotation closestSolution (const MEulerRotation &dst) const
MEulerRotationsetToClosestSolution (const MEulerRotation &src, const MEulerRotation &dst)
MEulerRotationsetToClosestSolution (const MEulerRotation &dst)
MEulerRotation closestCut (const MEulerRotation &dst) const
MEulerRotationsetToClosestCut (const MEulerRotation &src, const MEulerRotation &dst)
MEulerRotationsetToClosestCut (const MEulerRotation &dst)
double & operator[] (unsigned int i)
NO SCRIPT SUPPORT.

Static Public Member Functions

static MEulerRotation decompose (const MMatrix &matrix, RotationOrder ord)
static MEulerRotation bound (const MEulerRotation &src)
NO SCRIPT SUPPORT.
static MEulerRotation alternateSolution (const MEulerRotation &src)
NO SCRIPT SUPPORT.
static MEulerRotation closestSolution (const MEulerRotation &src, const MEulerRotation &dst)
NO SCRIPT SUPPORT.
static MEulerRotation closestCut (const MEulerRotation &src, const MEulerRotation &dst)
NO SCRIPT SUPPORT.

Public Attributes

double x
The x component of the euler rotation in radians.
double y
The y component of the euler rotation in radians.
double z
The z component of the euler rotation in radians.
RotationOrder order
The rotation order of the euler rotation.

Static Public Attributes

static const MEulerRotation identity
The euler rotation identity. The rotation order is XYZ.

Friends

OPENMAYA_EXPORT MEulerRotation operator* (double scale, const MEulerRotation &other)
NO SCRIPT SUPPORT.
OPENMAYA_EXPORT std::ostream & operator<< (std::ostream &os, const MEulerRotation &rotation)
NO SCRIPT SUPPORT.

Member Enumeration Documentation

Valid rotaton orders.

Enumerator:
 kXYZ kYZX kZXY kXZY kYXZ kZYX

Constructor & Destructor Documentation

 MEulerRotation::MEulerRotation ( )

The default class constructor. The rotation order is set to XYZ.

 MEulerRotation::MEulerRotation ( const MEulerRotation & src )

The copy constructor. Creates a new euler rotation and initializes it to the same values as the given euler rotation.

Parameters:
 [in] src the euler rotation to copy

 MEulerRotation::MEulerRotation ( const MVector & v, MEulerRotation::RotationOrder ord = `kXYZ` )

Class constructor. Construct an euler rotation from a vector with the given rotation order.

Parameters:
 [in] v vector from which to set the x, y, and z rotation components [in] ord the rotation order; the default rotation order is XYZ

 MEulerRotation::MEulerRotation ( double xx, double yy, double zz, MEulerRotation::RotationOrder ord = `kXYZ` )

Class constructor. Initializes the euler rotation with the explicit x, y, z, and rotation order values provided as arguments.

Parameters:
 [in] xx the x component of the euler rotation [in] yy the y component of the euler rotation [in] zz the z component of the euler rotation [in] ord the rotation order of the euler rotation; the default rotation order is XYZ

 MEulerRotation::~MEulerRotation ( )

Class destructor.

Member Function Documentation

 MEulerRotation & MEulerRotation::operator= ( const MEulerRotation & src )

The assignment operator.

Parameters:
 [in] src the source euler rotation
Returns:
A reference to the euler rotation that has been assigned to the source euler rotation

 MEulerRotation & MEulerRotation::operator= ( const MQuaternion & q )

The assignment operator.

Parameters:
 [in] q the source quaternion
Returns:
A reference to the euler rotation that has been assigned to the quaternion

 MEulerRotation & MEulerRotation::operator= ( const MMatrix & m )

Convert the given 4X4 homogeneous rotation matrix to a euler rotation.

Parameters:
 [in] m the matrix to be converted to a euler rotation
Returns:
A reference to the euler rotation that has been converted from the rotation matrix

 MEulerRotation & MEulerRotation::operator= ( const MVector & v )

The assignment operator.

Parameters:
 [in] v the source vector from which the x, y, and z rotation components are set
Returns:
A reference to the euler rotation that has been assigned to the source vector

 MEulerRotation & MEulerRotation::setValue ( const MVector & v, MEulerRotation::RotationOrder ord = `kXYZ` )

Sets the euler rotation to the values contained in the vector and with the specified rotation order.

Parameters:
 [in] v vector from which to set the x, y, and z rotation components [in] ord the rotation order; the default rotation order is XYZ
Returns:
A reference to the euler rotation whose value has been set

 MEulerRotation & MEulerRotation::setValue ( double xx, double yy, double zz, MEulerRotation::RotationOrder ord = `kXYZ` )

Sets the euler rotation to the x, y, and z rotation components with the specified rotation order.

Parameters:
 [in] xx the x component of the rotation [in] yy the y component of the rotation [in] zz the z component of the rotation [in] ord the rotation order; the default rotation order is XYZ
Returns:
A reference to the euler rotation whose value has been set

 MQuaternion MEulerRotation::asQuaternion ( ) const

Converts an euler rotation to a quaternion.

Returns:
The quaternion that has been casted from the euler rotation

 MMatrix MEulerRotation::asMatrix ( ) const

Converts an euler rotation to a rotation matrix.

Returns:
The rotation matrix that has been casted from the euler rotation

 MVector MEulerRotation::asVector ( ) const

Converts an euler rotation to a vector. The rotation order component is dropped.

Returns:
The vector that has been casted from the euler rotation

 double MEulerRotation::operator[] ( unsigned int i ) const

The index operator. If its argument is 0 it will return the x component of the euler rotation. If its argument is 1 it will return the y component of the euler rotation. If its argument is 2 it will return the z component of the euler rotation.

Parameters:
 [in] i value indicating which component to return
Returns:
The component of the euler rotation corresponding to the index

 MEulerRotation MEulerRotation::operator+ ( const MEulerRotation & other ) const

The euler rotation addition operator.

Parameters:
 [in] other the euler rotation to be added to this euler rotation
Returns:
The sum of the two euler rotations

 MEulerRotation & MEulerRotation::operator+= ( const MEulerRotation & other )

The in place euler rotation addition operator.

Parameters:
 [in] other the euler rotation to be added with this euler rotation
Returns:
A reference the euler rotation which has been added to the other euler rotation

 MEulerRotation MEulerRotation::operator- ( const MEulerRotation & other ) const

The euler rotation subtraction operator.

Parameters:
 [in] other the euler rotation to be subtracted from this euler rotation
Returns:
The euler rotation that results from the subtraction

 MEulerRotation & MEulerRotation::operator-= ( const MEulerRotation & other )

The in place euler rotation subtraction operator.

Parameters:
 [in] other the euler rotation to be subtracted from this euler rotation
Returns:
A reference the euler rotation which has had the other euler rotation subtracted from it

 MEulerRotation MEulerRotation::operator- ( ) const

The unary minus operator. Negates the value of each of the x, y, and z components of the euler rotation. The order remains the same.

Returns:
Euler rotation that results from the negation

 MEulerRotation MEulerRotation::operator* ( const MEulerRotation & other ) const

The euler rotation multiplication operator.

Parameters:
 [in] other the euler rotation to be multiplied with this euler rotation
Returns:
The product of the two euler rotations

 MEulerRotation MEulerRotation::operator* ( const MQuaternion & other ) const

This quaternion multiplication operator.

Parameters:
 [in] other the quaternion to be multiplied with this euler rotation
Returns:
The product of the euler rotation and the quaternion

 MEulerRotation MEulerRotation::operator* ( double other ) const

This scalar multiplication operator.

Parameters:
 [in] other the scalar value to be multiplied with this euler rotation
Returns:
The product of the euler rotation and the scalar value

 MEulerRotation & MEulerRotation::operator*= ( const MEulerRotation & other )

The in place euler rotation multiplication operator.

Parameters:
 [in] other the euler rotation to be multiplied with this euler rotation
Returns:
A reference to the euler rotation which has been multiplied with the other euler rotation

 MEulerRotation & MEulerRotation::operator*= ( const MQuaternion & other )

The in place quaternion multiplication operator.

Parameters:
 [in] other the quaternion to be multiplied with this euler rotation
Returns:
A reference to the euler rotation which has been multiplied with the quaternion

 MEulerRotation & MEulerRotation::operator*= ( double other )

The in place scalar multiplication operator.

Parameters:
 [in] other the double to be multiplied with this euler rotation
Returns:
A reference to the euler rotation which has been multiplied with the double

 bool MEulerRotation::operator== ( const MEulerRotation & other ) const

The euler rotation equality operator.

Parameters:
 [in] other the euler rotation to be compared with this euler rotation
Returns:
• true the euler rotations are identical
• false the euler rotations are not identical

 bool MEulerRotation::operator!= ( const MEulerRotation & other ) const

The euler rotation inequality operator.

Parameters:
 [in] other the euler rotation to be compared with this euler rotation
Returns:
• true the euler rotations are not identical
• false the euler rotations are identical

 bool MEulerRotation::isEquivalent ( const MEulerRotation & other, double tolerance = `1.0e-10` ) const

This method returns true if this euler rotation is equivalent, within some given tolerance, to the other euler rotation.

'tolerance' defaults to kEulerRotationEpsilon which is 1.0e-10

Parameters:
 [in] other the euler rotation to be compared with this euler rotation [in] tolerance the amount of variation allowed for equivalency
Returns:
• true the euler rotations are equivalent
• false the euler rotations are not equivalent

 bool MEulerRotation::isZero ( double tolerance = `1.0e-10` ) const

This method returns true if this euler rotation is zero, within some given tolerance.

'tolerance' defaults to kEulerRotationEpsilon which is 1.0e-10

Parameters:
 [in] tolerance the amount of variation allowed for equivalency to zero
Returns:
• true the rotation is zero
• false the rotation is not zero

 MEulerRotation & MEulerRotation::incrementalRotateBy ( const MVector & axis, double angle )

Perform an incremental rotation by the specified axis and angle. The rotation is broken down and performed in smaller steps so that the angles update properly.

Parameters:
 [in] axis the axis to rotate around [in] angle the angle by which to rotate around the axis
Returns:
A reference to the euler rotation that has been incrementally rotated

 MEulerRotation MEulerRotation::inverse ( ) const

Returns the inverse of this euler rotation. The rotation order will be reversed.

Returns:
Euler rotation that is the inverse of this euler rotation

 MEulerRotation & MEulerRotation::invertIt ( )

Performs an in place inversion of this euler rotation. The rotation order will be reversed.

Returns:
A reference to the euler rotation that has been inverted

 MEulerRotation MEulerRotation::reorder ( MEulerRotation::RotationOrder ord ) const

Returns the reordering of this euler rotation, such that the euler rotation will have the specified rotation order.

Parameters:
 [in] ord the new rotation order of the euler rotation
Returns:
Euler rotation that is the reordering of this euler rotation

 MEulerRotation & MEulerRotation::reorderIt ( MEulerRotation::RotationOrder ord )

Performs an in place reordering of this euler rotation, such that the euler rotation will have the specified rotation order.

Parameters:
 [in] ord the new rotation order of the euler rotation
Returns:
A reference to the euler rotation that has been reordered

 MEulerRotation MEulerRotation::bound ( ) const

Returns the result of bounding this rotation to be within +/- PI. Bounding a rotation to be within +/- PI is defined to be the result of offsetting the rotation by +/- 2nPI (term by term) such that the offset is within +/- PI.

Returns:
The euler rotation that results from bounding this euler rotation

 MEulerRotation & MEulerRotation::boundIt ( const MEulerRotation & src )

Sets this euler rotation to be the input rotation that has been bound to be within +/- PI. Bounding a rotation to be within +/- PI is defined to be the result of offsetting the rotation by +/- 2nPI (term by term) such that the offset is within +/- PI.

Parameters:
 [in] src the input rotation that will be bound
Returns:
A reference to the euler rotation that has been set to the bound input rotation

 MEulerRotation & MEulerRotation::boundIt ( )

Bounds this rotation to be within +/- PI. Bounding a rotation to be within +/- PI is defined to be the result of offsetting the rotation by +/- 2nPI (term by term) such that the offset is within +/- PI.

Returns:
A reference to the euler rotation that has been bound

 MEulerRotation MEulerRotation::alternateSolution ( ) const

Returns an alternate solution to this rotation. The resulting rotation will be bound between +/- PI, and the rotation order will remain unchanged.

Returns:
An alternate solution to this rotation

 MEulerRotation & MEulerRotation::setToAlternateSolution ( const MEulerRotation & src )

Sets this euler rotation to an alternate solution of the input rotation. The resulting rotation will be bound between +/- PI, and the rotation order will remain unchanged.

Parameters:
 [in] src the rotation to compute an alternate solution to
Returns:
A reference to the euler rotation that has been set to an alternate solution

 MEulerRotation & MEulerRotation::setToAlternateSolution ( )

Sets this euler rotation to an alternate solution of this rotation. The resulting rotation will be bound between +/- PI, and the rotation order will remain unchanged.

Returns:
A reference to the euler rotation that has been set to an alternate solution

 MEulerRotation MEulerRotation::closestSolution ( const MEulerRotation & dst ) const

Returns the euler rotation that is the closest solution to the "dst" euler rotation.

Parameters:
 [in] dst the euler rotation to which the solution should be closest
Returns:
The closest solution to the "dst" rotation

 MEulerRotation & MEulerRotation::setToClosestSolution ( const MEulerRotation & src, const MEulerRotation & dst )

Sets this euler rotation to the euler rotation that is the closest solution of the "src" euler rotation to the "dst" euler rotation.

Parameters:
 [in] src the euler rotation whose closest solution will be calculated [in] dst the euler rotation to which the solution should be closest
Returns:
A reference to the euler rotation that has been set to the closest solution

 MEulerRotation & MEulerRotation::setToClosestSolution ( const MEulerRotation & dst )

Sets this euler rotation to the euler rotation that is the closest solution to the "dst" euler rotation.

Parameters:
 [in] dst the euler rotation to which the solution should be closest
Returns:
A reference to the euler rotation that has been set to the closest solution

 MEulerRotation MEulerRotation::closestCut ( const MEulerRotation & dst ) const

Returns the closest cut of this rotation to "dst". The closest cut of rotation A to rotation B is defined to be the rotation that is +/- 2nPI to rotation A (term by term) and within +/- PI to rotation B.

Parameters:
 [in] dst the range of the closest cut
Returns:
The closest cut of this rotation

 MEulerRotation & MEulerRotation::setToClosestCut ( const MEulerRotation & src, const MEulerRotation & dst )

Sets this rotation to be the closest cut of "src" to "dst". The closest cut of rotation A to rotation B is defined to be the rotation that is +/- 2nPI to rotation A (term by term) and within +/- PI to rotation B.

Parameters:
 [in] src the euler rotation whose terms will be offset by +/- 2nPI [in] dst the range of the closest cut
Returns:
A reference to the euler rotation that has been set to the closest cut

 MEulerRotation & MEulerRotation::setToClosestCut ( const MEulerRotation & dst )

Sets this rotation to be the closest cut to "dst". The closest cut of rotation A to rotation B is defined to be the rotation that is +/- 2nPI to rotation A (term by term) and within +/- PI to rotation B.

Parameters:
 [in] dst the range of the closest cut
Returns:
A reference to the euler rotation that has been set to the closest cut

 MEulerRotation MEulerRotation::decompose ( const MMatrix & matrix, MEulerRotation::RotationOrder ord ) ` [static]`

Decompose a rotation matrix into the desired euler angles with the specified order.

Parameters:
 [in] matrix the matrix that will be decomposed into an euler rotation with the specified order [in] ord the order which the euler rotation will have
Returns:
The euler rotation that has been decomposed from the rotation matrix

 double & MEulerRotation::operator[] ( unsigned int i )

NO SCRIPT SUPPORT.

The index operator. If its argument is 0 it will return the x component of the euler rotation. If its argument is 1 it will return the y component of the euler rotation. If its argument is 2 it will return the z component of the euler rotation.

Parameters:
 [in] i value indicating which component to return
Returns:
A reference to the component of the euler rotation corresponding to the index

 MEulerRotation MEulerRotation::bound ( const MEulerRotation & src ) ` [static]`

NO SCRIPT SUPPORT.

Returns the euler rotation that bounds the input rotation to be within +/- PI. Bounding a rotation to be within +/- PI is defined to be the result of offsetting the rotation by +/- 2nPI (term by term) such that the offset is within +/- PI.

Parameters:
 [in] src the input rotation
Returns:
The euler rotation that bounds the input rotation

 MEulerRotation MEulerRotation::alternateSolution ( const MEulerRotation & src ) ` [static]`

NO SCRIPT SUPPORT.

Returns the euler rotation that is an alternate solution of the input rotation. The resulting rotation will be bound between +/- PI, and the rotation order will remain unchanged.

Parameters:
 [in] src the rotation to compute an alternate solution to
Returns:
The alternate solution to the input rotation

 MEulerRotation MEulerRotation::closestSolution ( const MEulerRotation & src, const MEulerRotation & dst ) ` [static]`

NO SCRIPT SUPPORT.

Returns the euler rotation that is the closest solution of the "src" euler rotation to the "dst" euler rotation.

Parameters:
 [in] src the euler rotation whose closest solution will be calculated [in] dst the euler rotation to which the solution should be closest
Returns:
The closest solution of "src" to "dst"

 MEulerRotation MEulerRotation::closestCut ( const MEulerRotation & src, const MEulerRotation & dst ) ` [static]`

NO SCRIPT SUPPORT.

Returns the euler rotation that is the closest cut of "src" to "dst". The closest cut of rotation A to rotation B is defined to be the rotation that is +/- 2nPI to rotation A (term by term) and within +/- PI to rotation B.

Parameters:
 [in] src the euler rotation whose terms will be offset by +/- 2nPI [in] dst the range of the closest cut
Returns:
The closest cut of "src" to "dst"

Friends And Related Function Documentation

 OPENMAYA_EXPORT MEulerRotation operator* ( double scale, const MEulerRotation & other ) ` [friend]`

NO SCRIPT SUPPORT.

The multiplication operator that allows the scale to preceed the euler rotation.

Parameters:
 [in] scale the amount by which the euler rotation should be scaled [in] other the euler rotation to which the scale should be applied
Returns:
Euler rotation that is the result of scaling the other euler rotation

 OPENMAYA_EXPORT std::ostream& operator<< ( std::ostream & os, const MEulerRotation & rotation ) ` [friend]`

NO SCRIPT SUPPORT.

Print the contents of the given euler rotation on the given ostream. The format used is [order: order, x: x, y: y, z: z], where x, y, and z are in degrees.

Parameters:
 [in] os the ostream to print to [in] rotation the euler rotation to be printed x
Returns:
The ostream reference, os, provided as the first parameter.