vgl_rotation_3d.h File Reference

A class representing a 3d rotation. More...

#include <cmath>
#include <vector>
#include <iostream>
#include <vnl/vnl_vector_fixed.h>
#include <vnl/vnl_matrix_fixed.h>
#include <vnl/vnl_quaternion.h>
#include <vnl/vnl_cross.h>
#include <vnl/vnl_math.h>
#include <vgl/vgl_fwd.h>
#include <vgl/vgl_point_3d.h>
#include <vgl/vgl_homg_point_3d.h>
#include <vgl/algo/vgl_h_matrix_3d.h>
#include <vgl/vgl_tolerance.h>

Go to the source code of this file.

Classes
class	vgl_rotation_3d< T >

Functions
template<class T >
std::istream &	operator>> (std::istream &s, vgl_rotation_3d< T > &R)
template<class T >
std::ostream &	operator<< (std::ostream &s, vgl_rotation_3d< T > const &R)
template<class T >
void	vgl_rotate_3d (vgl_rotation_3d< T > const &rot, std::vector< vgl_homg_point_3d< T > > &pts)
	In-place rotation of a vector of homogeneous points. More...

Detailed Description

A class representing a 3d rotation.

Author

Thomas Pollard

Date

2005-03-13

This is a class for storing and doing conversions with 3d rotation transforms specified by any of the following parameters: quaternions, Euler angles, Rodrigues vector, an orthonormal 3x3 matrix (with determinant = 1), or a vgl_h_matrix of proper form.

  Modifications
   M. J. Leotta   2007-03-14 Moved from VPGL and implemented member functions
   Peter Vanroose 2009-06-11 Robustified the 2-vector constructors: input no longer needs to be unit-norm
   Peter Vanroose 2010-10-24 mutators and setters now return *this

Definition in file vgl_rotation_3d.h.

Function Documentation

operator<<()

template<class T >

std::ostream& operator<<	(	std::ostream &	s,
		vgl_rotation_3d< T > const &	R
	)

Definition at line 287 of file vgl_rotation_3d.h.

operator>>()

template<class T >

std::istream& operator>>	(	std::istream &	s,
		vgl_rotation_3d< T > &	R
	)

Definition at line 278 of file vgl_rotation_3d.h.

vgl_rotate_3d()

template<class T >

void vgl_rotate_3d ( vgl_rotation_3d< T > const &  rot, std::vector< vgl_homg_point_3d< T > > &  pts  )

inline

In-place rotation of a vector of homogeneous points.

Note

This is more efficient than calling vgl_rotation_3d::rotate() on each

Definition at line 298 of file vgl_rotation_3d.h.