Handles 3D rotations and conversions between various rotation representations. More...

#include <Rotation.h>

Collaboration diagram for Rotation:

Public Member Functions
	Rotation ()
	Default constructor.

	Rotation (const Quaternion &quaternion)
	Constructor from a Quaternion.

	Rotation (const AxisAngle &axisAngle)
	Constructor from an AxisAngle representation.

	Rotation (const DirectionAngle &directionAngle)
	Constructor from a DirectionAngle representation.

	Rotation (const RotationMatrix &rotationMatrix)
	Constructor from a RotationMatrix.

	Rotation (const Vector3D &X, const Vector3D &Y, const Vector3D &Z)
	Constructor from basis vectors.

	Rotation (const EulerAngles &eulerAngles)
	Constructor from Euler angles.

	Rotation (const Vector3D &initial, const Vector3D &target)
	Constructor from direction vectors.

	Rotation (const YawPitchRoll &ypr)
	Constructor from a YawPitchRoll representation.

Quaternion	GetQuaternion ()
	Gets the quaternion representation of the rotation.

AxisAngle	GetAxisAngle ()
	Gets the axis-angle representation of the rotation.

DirectionAngle	GetDirectionAngle ()
	Gets the direction-angle representation of the rotation.

RotationMatrix	GetRotationMatrix ()
	Gets the rotation matrix representation of the rotation.

EulerAngles	GetEulerAngles (const EulerOrder &order)
	Gets the Euler angles representation of the rotation.

YawPitchRoll	GetYawPitchRoll ()
	Gets the yaw-pitch-roll representation of the rotation.

Private Member Functions
Quaternion	AxisAngleToQuaternion (const AxisAngle &axisAngle)
	Converts an AxisAngle to a Quaternion.

Quaternion	DirectionAngleToQuaternion (const DirectionAngle &directionAngle)
	Converts a DirectionAngle to a Quaternion.

Quaternion	RotationMatrixToQuaternion (const RotationMatrix &rM)
	Converts a RotationMatrix to a Quaternion.

Quaternion	RotationMatrixToQuaternion (const Vector3D &X, const Vector3D &Y, const Vector3D &Z)
	Converts three basis vectors to a Quaternion.

Quaternion	EulerAnglesToQuaternion (const EulerAngles &eulerAngles)
	Converts Euler angles to a Quaternion.

Quaternion	YawPitchRollToQuaternion (const YawPitchRoll &ypr)
	Converts a YawPitchRoll representation to a Quaternion.

EulerAngles	RotationMatrixToEulerAngles (const RotationMatrix &rM, const EulerOrder &order)
	Converts a RotationMatrix to Euler angles.

RotationMatrix	EulerAnglesToRotationMatrix (const EulerAngles &eulerAngles)
	Converts Euler angles to a RotationMatrix.

Quaternion	QuaternionFromDirectionVectors (const Vector3D &initial, const Vector3D &target)
	Creates a Quaternion from direction vectors.

Private Attributes
Quaternion	quaternionRotation
	Quaternion representation of the rotation.

Detailed Description

Handles 3D rotations and conversions between various rotation representations.

The Rotation class simplifies the process of converting between multiple rotation representations, enabling flexible handling of 3D rotations in applications such as graphics and robotics.

Definition at line 32 of file Rotation.h.

Constructor & Destructor Documentation

◆ Rotation() [1/9]

Rotation ( )

Default constructor.

Initializes the rotation to the identity quaternion.

Definition at line 198 of file Rotation.cpp.

References quaternionRotation.

Referenced by QuaternionFromDirectionVectors().

◆ Rotation() [2/9]

Rotation ( const Quaternion & quaternion )

Constructor from a Quaternion.

Parameters

quaternion The quaternion representation of the rotation.

Definition at line 202 of file Rotation.cpp.

References quaternionRotation.

◆ Rotation() [3/9]

Rotation ( const AxisAngle & axisAngle )

Constructor from an AxisAngle representation.

Parameters

axisAngle The axis-angle representation of the rotation.

Definition at line 206 of file Rotation.cpp.

References AxisAngleToQuaternion(), and quaternionRotation.

◆ Rotation() [4/9]

Rotation ( const DirectionAngle & directionAngle )

Constructor from a DirectionAngle representation.

Parameters

directionAngle The direction-angle representation of the rotation.

Definition at line 210 of file Rotation.cpp.

References DirectionAngleToQuaternion(), and quaternionRotation.

◆ Rotation() [5/9]

Rotation ( const RotationMatrix & rotationMatrix )

Constructor from a RotationMatrix.

Parameters

rotationMatrix The rotation matrix representation of the rotation.

Definition at line 214 of file Rotation.cpp.

References quaternionRotation, and RotationMatrixToQuaternion().

◆ Rotation() [6/9]

Rotation	(	const Vector3D &	X,
		const Vector3D &	Y,
		const Vector3D &	Z
	)

Constructor from basis vectors.

Parameters

X	The X-axis vector.
Y	The Y-axis vector.
Z	The Z-axis vector.

Definition at line 218 of file Rotation.cpp.

References quaternionRotation, and RotationMatrixToQuaternion().

◆ Rotation() [7/9]

Rotation ( const EulerAngles & eulerAngles )

Constructor from Euler angles.

Parameters

eulerAngles The Euler angles representation of the rotation.

Definition at line 222 of file Rotation.cpp.

References EulerAnglesToQuaternion(), and quaternionRotation.

◆ Rotation() [8/9]

Rotation	(	const Vector3D &	initial,
		const Vector3D &	target
	)

Constructor from direction vectors.

Parameters

initial	The initial direction vector.
target	The target direction vector.

Definition at line 226 of file Rotation.cpp.

References QuaternionFromDirectionVectors(), and quaternionRotation.

◆ Rotation() [9/9]

Rotation ( const YawPitchRoll & ypr )

Constructor from a YawPitchRoll representation.

Parameters

ypr	The yaw-pitch-roll representation of the rotation.

Definition at line 230 of file Rotation.cpp.

References quaternionRotation, and YawPitchRollToQuaternion().

Member Function Documentation

◆ AxisAngleToQuaternion()

Quaternion AxisAngleToQuaternion ( const AxisAngle & axisAngle )

private

Converts an AxisAngle to a Quaternion.

Parameters

axisAngle The axis-angle representation.

Returns: The corresponding quaternion.

Definition at line 5 of file Rotation.cpp.

References Mathematics::DegreesToRadians().

Referenced by Rotation().

◆ DirectionAngleToQuaternion()

Quaternion DirectionAngleToQuaternion ( const DirectionAngle & directionAngle )

private

Converts a DirectionAngle to a Quaternion.

Parameters

directionAngle The direction-angle representation.

Returns: The corresponding quaternion.

Definition at line 17 of file Rotation.cpp.

References QuaternionFromDirectionVectors(), RotationMatrix::RotateVector(), RotationMatrixToQuaternion(), and Quaternion::UnitQuaternion().

Referenced by Rotation().

◆ EulerAnglesToQuaternion()

Quaternion EulerAnglesToQuaternion ( const EulerAngles & eulerAngles )

private

Converts Euler angles to a Quaternion.

Parameters

eulerAngles The Euler angles representation.

Returns: The corresponding quaternion.

Definition at line 83 of file Rotation.cpp.

References Mathematics::DegreesToRadians(), EulerOrder::Rotating, EulerOrder::XYZ, EulerOrder::XZY, EulerOrder::YXZ, EulerOrder::YZX, EulerOrder::ZXY, and EulerOrder::ZYX.

Referenced by Rotation().

◆ EulerAnglesToRotationMatrix()

RotationMatrix EulerAnglesToRotationMatrix ( const EulerAngles & eulerAngles )

private

Converts Euler angles to a RotationMatrix.

Parameters

eulerAngles The Euler angles representation.

Returns: The corresponding rotation matrix.

Definition at line 148 of file Rotation.cpp.

◆ GetAxisAngle()

AxisAngle GetAxisAngle ( )

Gets the axis-angle representation of the rotation.

Returns: The axis-angle representation.

Definition at line 238 of file Rotation.cpp.

References quaternionRotation, and Mathematics::RadiansToDegrees().

◆ GetDirectionAngle()

DirectionAngle GetDirectionAngle ( )

Gets the direction-angle representation of the rotation.

Returns: The direction-angle representation.

Definition at line 266 of file Rotation.cpp.

References QuaternionFromDirectionVectors(), quaternionRotation, Mathematics::RadiansToDegrees(), Quaternion::UnitQuaternion(), Vector3D::X, and Vector3D::Z.

◆ GetEulerAngles()

EulerAngles GetEulerAngles ( const EulerOrder & order )

Gets the Euler angles representation of the rotation.

Parameters

order The Euler order to use for conversion.

Returns: The Euler angles representation.

Definition at line 300 of file Rotation.cpp.

References quaternionRotation, Mathematics::RadiansToDegrees(), EulerOrder::Rotating, EulerOrder::XYZ, EulerOrder::XZY, EulerOrder::YXZ, EulerOrder::YZX, EulerOrder::ZXY, and EulerOrder::ZYX.

Referenced by Transform::ToString().

◆ GetQuaternion()

Quaternion GetQuaternion ( )

Gets the quaternion representation of the rotation.

Returns: The quaternion representing the rotation.

Definition at line 234 of file Rotation.cpp.

References quaternionRotation.

◆ GetRotationMatrix()

RotationMatrix GetRotationMatrix ( )

Gets the rotation matrix representation of the rotation.

Returns: The rotation matrix representation.

Definition at line 288 of file Rotation.cpp.

References quaternionRotation, and Quaternion::RotateVector().

◆ GetYawPitchRoll()

YawPitchRoll GetYawPitchRoll ( )

Gets the yaw-pitch-roll representation of the rotation.

Returns: The yaw-pitch-roll representation.

Definition at line 397 of file Rotation.cpp.

References quaternionRotation, and Mathematics::RadiansToDegrees().

◆ QuaternionFromDirectionVectors()

Quaternion QuaternionFromDirectionVectors	(	const Vector3D &	initial,
		const Vector3D &	target
	)

private

Creates a Quaternion from direction vectors.

Parameters

initial	The initial direction vector.
target	The target direction vector.

Returns: The corresponding quaternion.

Definition at line 154 of file Rotation.cpp.

References Vector3D::CrossProduct(), Vector3D::DotProduct(), Mathematics::MPI, and Rotation().

Referenced by DirectionAngleToQuaternion(), GetDirectionAngle(), and Rotation().

◆ RotationMatrixToEulerAngles()

EulerAngles RotationMatrixToEulerAngles	(	const RotationMatrix &	rM,
		const EulerOrder &	order
	)

private

Converts a RotationMatrix to Euler angles.

Parameters

rM	The rotation matrix representation.
order	The Euler order to use for conversion.

Returns: The corresponding Euler angles.

Definition at line 142 of file Rotation.cpp.

◆ RotationMatrixToQuaternion() [1/2]

Quaternion RotationMatrixToQuaternion ( const RotationMatrix & rM )

private

Converts a RotationMatrix to a Quaternion.

Parameters

rM	The rotation matrix representation.

Returns: The corresponding quaternion.

Definition at line 37 of file Rotation.cpp.

References RotationMatrixToQuaternion().

Referenced by DirectionAngleToQuaternion(), Rotation(), Rotation(), and RotationMatrixToQuaternion().

◆ RotationMatrixToQuaternion() [2/2]

Quaternion RotationMatrixToQuaternion	(	const Vector3D &	X,
		const Vector3D &	Y,
		const Vector3D &	Z
	)

private

Converts three basis vectors to a Quaternion.

Parameters

X	The X-axis vector.
Y	The Y-axis vector.
Z	The Z-axis vector.

Returns: The corresponding quaternion.

Definition at line 41 of file Rotation.cpp.

References Vector3D::X, Vector3D::Y, and Vector3D::Z.

◆ YawPitchRollToQuaternion()

Quaternion YawPitchRollToQuaternion ( const YawPitchRoll & ypr )

private

Converts a YawPitchRoll representation to a Quaternion.

Parameters

ypr	The yaw-pitch-roll representation.

Returns: The corresponding quaternion.

Definition at line 136 of file Rotation.cpp.

Referenced by Rotation().

Member Data Documentation

◆ quaternionRotation

Quaternion quaternionRotation

private

Quaternion representation of the rotation.

Definition at line 34 of file Rotation.h.

Referenced by GetAxisAngle(), GetDirectionAngle(), GetEulerAngles(), GetQuaternion(), GetRotationMatrix(), GetYawPitchRoll(), Rotation(), Rotation(), Rotation(), Rotation(), Rotation(), Rotation(), Rotation(), Rotation(), and Rotation().

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Rotation() [1/9]

◆ Rotation() [2/9]

◆ Rotation() [3/9]

◆ Rotation() [4/9]

◆ Rotation() [5/9]

◆ Rotation() [6/9]

◆ Rotation() [7/9]

◆ Rotation() [8/9]

◆ Rotation() [9/9]

Member Function Documentation

◆ AxisAngleToQuaternion()

◆ DirectionAngleToQuaternion()

◆ EulerAnglesToQuaternion()

◆ EulerAnglesToRotationMatrix()

◆ GetAxisAngle()

◆ GetDirectionAngle()

◆ GetEulerAngles()

◆ GetQuaternion()

◆ GetRotationMatrix()

◆ GetYawPitchRoll()

◆ QuaternionFromDirectionVectors()

◆ RotationMatrixToEulerAngles()

◆ RotationMatrixToQuaternion() [1/2]

◆ RotationMatrixToQuaternion() [2/2]

◆ YawPitchRollToQuaternion()

Member Data Documentation

◆ quaternionRotation