N×N rotation matrix backed by a unit quaternion (or an axis-angle representation). More...

#include <AffineTransform.hpp>

Inheritance diagram for CDPL::Math::RotationMatrix< T >:

Public Types
typedef T	ValueType
	The scalar value type. More...

typedef const T	Reference
	Element reference type (always a `const` reference — elements are computed). More...

typedef const T	ConstReference
	Constant element reference type. More...

typedef std::size_t	SizeType
	The unsigned size type. More...

typedef std::ptrdiff_t	DifferenceType
	The signed difference type. More...

typedef MatrixReference< SelfType >	ClosureType
	Closure type used when this matrix appears inside another expression. More...

typedef const MatrixReference< const SelfType >	ConstClosureType
	Constant closure type used when this matrix appears inside another expression. More...

typedef Matrix< T, std::vector< T > >	MatrixTemporaryType
	Concrete temporary matrix type used by expression template machinery. More...

typedef Vector< T, std::vector< T > >	VectorTemporaryType
	Concrete temporary vector type used when assembling vectors from this matrix. More...

Public Types inherited from CDPL::Math::MatrixContainer< RotationMatrix< T > >
typedef RotationMatrix< T >	ContainerType
	The derived matrix container type. More...

Public Types inherited from CDPL::Math::MatrixExpression< E >
typedef E	ExpressionType
	The derived matrix expression type. More...

Public Types inherited from CDPL::Math::Expression< E >
typedef E	ExpressionType
	The derived expression type. More...

Public Member Functions
template<typename E >
	RotationMatrix (SizeType n, const QuaternionExpression< E > &q)
	Constructs an N×N rotation matrix from the unit quaternion q. More...

template<typename T1 , typename T2 , typename T3 , typename T4 >
	RotationMatrix (SizeType n, const T1 &w, const T2 &ux, const T3 &uy, const T4 &uz)
	Constructs an N×N rotation matrix from an axis-angle representation. More...

	RotationMatrix (const RotationMatrix &m)
	Constructs a copy of the rotation matrix m. More...

template<typename E >
void	set (const QuaternionExpression< E > &q)
	Sets the rotation from the unit quaternion q. More...

template<typename T1 , typename T2 , typename T3 , typename T4 >
void	set (const T1 &w, const T2 &ux, const T3 &uy, const T4 &uz)
	Sets the rotation from an axis-angle representation. More...

ConstReference	operator() (SizeType i, SizeType j) const
	Returns the rotation matrix element at (i, j). More...

bool	isEmpty () const
	Tells whether the matrix is empty (size zero). More...

SizeType	getSize1 () const
	Returns the dimension N (the row count). More...

SizeType	getSize2 () const
	Returns the dimension N (the column count). More...

SizeType	getMaxSize1 () const
	Returns the maximum representable row count. More...

SizeType	getMaxSize2 () const
	Returns the maximum representable column count. More...

RotationMatrix &	operator= (const RotationMatrix &m)
	Copy-assigns the dimension and the underlying quaternion components from m. More...

void	swap (RotationMatrix &m)
	Swaps the dimension and the underlying quaternion components with m. More...

void	resize (SizeType n)
	Resizes the matrix dimension to n (the underlying quaternion is left unchanged). More...

Public Member Functions inherited from CDPL::Math::MatrixContainer< RotationMatrix< T > >
const ContainerType &	operator() () const
	Returns a `const` reference to the derived matrix container class instance. More...

ContainerType &	operator() ()
	Returns a reference to the derived matrix container class instance. More...

Public Member Functions inherited from CDPL::Math::MatrixExpression< E >
const ExpressionType &	operator() () const
	Returns a `const` reference to the derived matrix expression class instance. More...

ExpressionType &	operator() ()
	Returns a reference to the derived matrix expression class instance. More...

Friends
void	swap (RotationMatrix &m1, RotationMatrix &m2)
	ADL-enabled free-function form of swap(). More...

Additional Inherited Members
Protected Member Functions inherited from CDPL::Math::MatrixContainer< RotationMatrix< T > >
	MatrixContainer ()

	~MatrixContainer ()

Protected Member Functions inherited from CDPL::Math::MatrixExpression< E >
	MatrixExpression ()

	~MatrixExpression ()

Protected Member Functions inherited from CDPL::Math::Expression< E >
	Expression ()

	~Expression ()

Detailed Description

template<typename T>
class CDPL::Math::RotationMatrix< T >

N×N rotation matrix backed by a unit quaternion (or an axis-angle representation).

The first 3×3 block holds the rotation, the remaining diagonal entries are 1 (identity) and all other entries are 0. The size N is configurable and typically chosen to fit the surrounding coordinate system (e.g. 4 for homogeneous transformations).

Template Parameters

T	The scalar value type.

Member Typedef Documentation

◆ ValueType

template<typename T >

typedef T CDPL::Math::RotationMatrix< T >::ValueType

The scalar value type.

◆ Reference

template<typename T >

typedef const T CDPL::Math::RotationMatrix< T >::Reference

Element reference type (always a const reference — elements are computed).

◆ ConstReference

template<typename T >

typedef const T CDPL::Math::RotationMatrix< T >::ConstReference

Constant element reference type.

◆ SizeType

template<typename T >

typedef std::size_t CDPL::Math::RotationMatrix< T >::SizeType

The unsigned size type.

◆ DifferenceType

template<typename T >

typedef std::ptrdiff_t CDPL::Math::RotationMatrix< T >::DifferenceType

The signed difference type.

◆ ClosureType

template<typename T >

typedef MatrixReference<SelfType> CDPL::Math::RotationMatrix< T >::ClosureType

Closure type used when this matrix appears inside another expression.

◆ ConstClosureType

template<typename T >

typedef const MatrixReference<const SelfType> CDPL::Math::RotationMatrix< T >::ConstClosureType

Constant closure type used when this matrix appears inside another expression.

◆ MatrixTemporaryType

template<typename T >

typedef Matrix<T, std::vector<T> > CDPL::Math::RotationMatrix< T >::MatrixTemporaryType

Concrete temporary matrix type used by expression template machinery.

◆ VectorTemporaryType

template<typename T >

typedef Vector<T, std::vector<T> > CDPL::Math::RotationMatrix< T >::VectorTemporaryType

Concrete temporary vector type used when assembling vectors from this matrix.

Constructor & Destructor Documentation

◆ RotationMatrix() [1/3]

template<typename T >

template<typename E >

CDPL::Math::RotationMatrix< T >::RotationMatrix	(	SizeType	n,
		const QuaternionExpression< E > &	q
	)

inline

Constructs an N×N rotation matrix from the unit quaternion q.

Template Parameters

E	The quaternion expression type.

Parameters

n	The matrix dimension N.
q	The unit quaternion expressing the rotation.

◆ RotationMatrix() [2/3]

template<typename T >

template<typename T1 , typename T2 , typename T3 , typename T4 >

CDPL::Math::RotationMatrix< T >::RotationMatrix	(	SizeType	n,
		const T1 &	w,
		const T2 &	ux,
		const T3 &	uy,
		const T4 &	uz
	)

inline

Constructs an N×N rotation matrix from an axis-angle representation.

Template Parameters

T1	The rotation angle scalar type.
T2	The x-axis component scalar type.
T3	The y-axis component scalar type.
T4	The z-axis component scalar type.

Parameters

n	The matrix dimension N.
w	The rotation angle (in radians).
ux	The x-component of the rotation axis (unit vector).
uy	The y-component of the rotation axis (unit vector).
uz	The z-component of the rotation axis (unit vector).

◆ RotationMatrix() [3/3]

template<typename T >

CDPL::Math::RotationMatrix< T >::RotationMatrix ( const RotationMatrix< T > & m )

inline

Constructs a copy of the rotation matrix m.

Parameters

m	The rotation matrix to copy.

Member Function Documentation

◆ set() [1/2]

template<typename T >

template<typename E >

void CDPL::Math::RotationMatrix< T >::set ( const QuaternionExpression< E > & q )

inline

Sets the rotation from the unit quaternion q.

Template Parameters

E	The quaternion expression type.

Parameters

q	The unit quaternion expressing the rotation.

◆ set() [2/2]

template<typename T >

template<typename T1 , typename T2 , typename T3 , typename T4 >

void CDPL::Math::RotationMatrix< T >::set	(	const T1 &	w,
		const T2 &	ux,
		const T3 &	uy,
		const T4 &	uz
	)

inline

Sets the rotation from an axis-angle representation.

Template Parameters

T1	The rotation angle scalar type.
T2	The x-axis component scalar type.
T3	The y-axis component scalar type.
T4	The z-axis component scalar type.

Parameters

w	The rotation angle (in radians).
ux	The x-component of the rotation axis (unit vector).
uy	The y-component of the rotation axis (unit vector).
uz	The z-component of the rotation axis (unit vector).

◆ operator()()

template<typename T >

ConstReference CDPL::Math::RotationMatrix< T >::operator()	(	SizeType	i,
		SizeType	j
	)		const

inline

Returns the rotation matrix element at (i, j).

Parameters

i	The zero-based row index.
j	The zero-based column index.

Returns: The matrix element (computed from the stored unit quaternion).

Exceptions

Base::IndexError if either index is out of range.

◆ isEmpty()

template<typename T >

bool CDPL::Math::RotationMatrix< T >::isEmpty ( ) const

inline

Tells whether the matrix is empty (size zero).

Returns: true if N is zero, and false otherwise.

◆ getSize1()

template<typename T >

SizeType CDPL::Math::RotationMatrix< T >::getSize1 ( ) const

inline

Returns the dimension N (the row count).

Returns: N.

◆ getSize2()

template<typename T >

SizeType CDPL::Math::RotationMatrix< T >::getSize2 ( ) const

inline

Returns the dimension N (the column count).

Returns: N.

◆ getMaxSize1()

template<typename T >

SizeType CDPL::Math::RotationMatrix< T >::getMaxSize1 ( ) const

inline

Returns the maximum representable row count.

Returns: The maximum row count.

◆ getMaxSize2()

template<typename T >

SizeType CDPL::Math::RotationMatrix< T >::getMaxSize2 ( ) const

inline

Returns the maximum representable column count.

Returns: The maximum column count.

◆ operator=()

template<typename T >

RotationMatrix& CDPL::Math::RotationMatrix< T >::operator= ( const RotationMatrix< T > & m )

inline

Copy-assigns the dimension and the underlying quaternion components from m.

Parameters

m	The source rotation matrix.

Returns: A reference to itself.

◆ swap()

template<typename T >

void CDPL::Math::RotationMatrix< T >::swap ( RotationMatrix< T > & m )

inline

Swaps the dimension and the underlying quaternion components with m.

Parameters

m	The rotation matrix to swap with.

◆ resize()

template<typename T >

void CDPL::Math::RotationMatrix< T >::resize ( SizeType n )

inline

Resizes the matrix dimension to n (the underlying quaternion is left unchanged).

Parameters

n	The new dimension.

Friends And Related Function Documentation

◆ swap

template<typename T >

void swap	(	RotationMatrix< T > &	m1,
		RotationMatrix< T > &	m2
	)

friend

ADL-enabled free-function form of swap().

Parameters

m1	The first rotation matrix.
m2	The second rotation matrix.

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

AffineTransform.hpp

Public Types

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

template<typename T> class CDPL::Math::RotationMatrix< T >

Member Typedef Documentation

◆ ValueType

◆ Reference

◆ ConstReference

◆ SizeType

◆ DifferenceType

◆ ClosureType

◆ ConstClosureType

◆ MatrixTemporaryType

◆ VectorTemporaryType

Constructor & Destructor Documentation

◆ RotationMatrix() [1/3]

◆ RotationMatrix() [2/3]

◆ RotationMatrix() [3/3]

Member Function Documentation

◆ set() [1/2]

◆ set() [2/2]

◆ operator()()

◆ isEmpty()

◆ getSize1()

◆ getSize2()

◆ getMaxSize1()

◆ getMaxSize2()

◆ operator=()

◆ swap()

◆ resize()

Friends And Related Function Documentation

◆ swap

template<typename T>
class CDPL::Math::RotationMatrix< T >