spat::Rotation< Valtype > Class Template Reference

Rotation matrix. More...

#include <C:/Trend/Development/Trax3/Code/spat/Matrix.h>

Inheritance diagram for spat::Rotation< Valtype >:

Public Types
using	Basetype = typename SquareMatrix<Valtype,3>::Basetype
	Utmost base type of this Rotation.
Public Types inherited from spat::SquareMatrix< Valtype, 3 >
using	Basetype
	Utmost base type of this SquareMatrix.
Public Types inherited from spat::Matrix< Valtype, nColsAndRows, nColsAndRows >
typedef Valtype	value_type

Public Member Functions
void	CreateFromAxis (const Vector< Valtype > &axis)
	This constructs a rotation with an axis according to the right-hand-rule. (Thumb points in vector direction, fingers show the rotation).
void	CreateFromAxis (Valtype rx, Valtype ry, Valtype rz) noexcept
	This constructs a rotation with an axis according to the right-hand-rule. (Thumb points in vector direction, fingers show the rotation).
Vector< Valtype >	RotationAxis () const noexcept
	Axis of the rotation described by this matrix.
Valtype	RotationAngle () const noexcept
	Angle of the rotation described by this matrix.
template<typename ValtypeP>
Rotation< Valtype > &	operator= (const Frame< ValtypeP, Valtype > &frame) noexcept
Construction
Parameters matrix Construct from transformation matrix. axis Create from a rotational axis. frame Create a rotation that transforms frame local coordinates with respect to their rotation only.
	Rotation (const SquareMatrix< Valtype, 3 > &matrix)
	Rotation (SquareMatrix< Valtype, 3 > &&matrix) noexcept
	Rotation (const Basetype &matrix)
	Rotation (Basetype &&matrix) noexcept
	Rotation (const Vector< Valtype > &axis)
	Rotation (Valtype q0, Valtype q1, Valtype q2, Valtype q3) noexcept
template<typename ValtypeP>
	Rotation (const Frame< ValtypeP, Valtype > &frame)
template<typename Valtype2>
	Rotation (const Transformation< Valtype2 > &matrix)
	Rotation (Valtype r00, Valtype r10, Valtype r20, Valtype r01, Valtype r11, Valtype r21, Valtype r02, Valtype r12, Valtype r22)
Assignment
Parameters frame Assign from frame with respect to its rotation only
template<typename ValtypeP>
Rotation &	operator= (const Frame< ValtypeP, Valtype > &frame) noexcept
Rotate
Transform an element by this Rotation
void	Rotate (Vector< Valtype > &v) const noexcept
template<typename ValtypeP>
void	Rotate (Frame< ValtypeP, Valtype > &frame) const noexcept
Transformation
Position< Valtype >	operator* (const Position< Valtype > &p) const noexcept
Vector< Valtype >	operator* (const Vector< Valtype > &v) const noexcept
Public Member Functions inherited from spat::SquareMatrix< Valtype, 3 >
Matrix &	operator= (const Matrix &matrix) noexcept
Matrix &	operator= (Matrix &&matrix) noexcept
Matrix &	operator= (const std::initializer_list< Valtype > &elements) noexcept
const Valtype &	operator() (unsigned short col, unsigned short row) const noexcept
Valtype &	operator() (unsigned short col, unsigned short row) noexcept
void	SetIdentity () noexcept
	Sets the matrix to the identity matrix (i.e. all 1 in diagonal, 0 for everything else).
bool	IsIdentity (Valtype epsilon=0) const noexcept
bool	IsDiagonal () const noexcept
bool	IsSymmetric (Valtype epsilon=0) const noexcept
SquareMatrix &	Transpose () noexcept
	Change colums and rows.
SquareMatrix &	Invert ()
	Invert matrix so that M*I == Identity.
Valtype	Trace () const noexcept
	Trace of the matrix, wich is the sum of all element with same indices.
Public Member Functions inherited from spat::Matrix< Valtype, nColsAndRows, nColsAndRows >
void	SetNull () noexcept
	Sets all elements to 0.
constexpr unsigned short	Cols () const noexcept
	Number of columns.
constexpr unsigned short	Rows () const noexcept
	Number of rows.
bool	IsEqual (const Matrix &matrix, Valtype delta=0) const noexcept
	Test elements for equality up to delta distance.
bool	operator== (const Matrix &matrix) const noexcept
	Comparison for equality.
bool	operator!= (const Matrix &matrix) const noexcept
	Comparison for inequality.
void	operator*= (Valtype skalar) noexcept
	Matrix * Skalar multiplication.
void	operator*= (const Matrix< Valtype, nCols, nCols > &matrix)
	Matrix multiplication.
void	operator/= (Valtype skalar) noexcept
	Matrix / Skalar division.
void	operator+= (const Matrix &matrix) noexcept
	Matrix addition.
void	operator-= (const Matrix &matrix) noexcept
	Matrix subtraction.
const Valtype *	ptr () const noexcept
	Pointer accessor for direct copying. The memory layout is column-major order.
Matrix< Valtype, nCols-1, nRows-1 >	SubMatrix (unsigned short c, unsigned short r) const
	Extracts the submatrix of mat wich results from omitting the row r and collumn c.
	Matrix (const Matrix &matrix)
	Matrix (Matrix &&matrix) noexcept
	Matrix (const std::initializer_list< Valtype > &elements)
Matrix &	operator= (const Matrix &matrix) noexcept
Matrix &	operator= (Matrix &&matrix) noexcept
Matrix &	operator= (const std::initializer_list< Valtype > &elements) noexcept
const Valtype &	operator() (unsigned short col, unsigned short row) const noexcept
Valtype &	operator() (unsigned short col, unsigned short row) noexcept

Detailed Description

template<typename Valtype>
class spat::Rotation< Valtype >

Rotation matrix.

Member Function Documentation

RotationAngle()

template<typename Valtype>

Valtype spat::Rotation< Valtype >::RotationAngle ( ) const

noexcept

Angle of the rotation described by this matrix.

Returns

the angle of rotation. The angle is given in radiants.

RotationAxis()

template<typename Valtype>

Vector< Valtype > spat::Rotation< Valtype >::RotationAxis ( ) const

inlinenoexcept

Axis of the rotation described by this matrix.

Returns

the normalised axis of rotation.

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

• C:/Trend/Development/Trax3/Code/spat/Frame.h
• C:/Trend/Development/Trax3/Code/spat/Matrix.h