CSIBCRotationd Class Reference

#include <SIBCRotationd.h>

List of all members.

Public Member Functions
	CSIBCRotationd ()
	CSIBCRotationd (const CSIBCQuaterniond &in_quat)
	CSIBCRotationd (const CSIBCRotMatd &in_matRot)
	CSIBCRotationd (const CSIBCVector3Dd &in_vctXYZAngles)
	CSIBCRotationd (double in_dX, double in_dY, double in_dZ)
	CSIBCRotationd (const E3DAxisType in_axis, const double in_dAngle)
	CSIBCRotationd (const CSIBCVector3Dd &in_vctAxis, const double in_dAngle)
	CSIBCRotationd (const CSIBCVector3Dd &in_vctFrom, const CSIBCVector3Dd &in_vctTo)
CSIBCRotationd &	SetIdentity ()
bool	IsIdentity ()
bool	IsAlmostIdentity (const double &in_rdTolerance=PICO_EPS) const
CSIBCQuaterniond &	GetQuat (CSIBCQuaterniond &out_quat)
const CSIBCRotMatd *	GetMatrix ()
CSIBCRotMatd &	GetMatrix (CSIBCRotMatd &out_matRot)
CSIBCVector3Dd &	GetXYZAngles (CSIBCVector3Dd &out_vctXYZAngles)
void	GetXYZAngles (double &out_dX, double &out_dY, double &out_dZ)
void	GetAxisAngle (CSIBCVector3Dd &out_vctAxis, double &out_dAngle)
CSIBCRotationd &	Set (const CSIBCRotationd &in_rot)
CSIBCRotationd &	Set (const CSIBCQuaterniond &in_quat)
CSIBCRotationd &	Set (const CSIBCRotMatd &in_matRot)
CSIBCRotationd &	Set (const CSIBCVector3Dd &in_vctXYZAngles)
CSIBCRotationd &	Set (double in_dX, double in_dY, double in_dZ)
CSIBCRotationd &	Set (const E3DAxisType in_axis, const double in_dAngle)
CSIBCRotationd &	Set (const CSIBCVector3Dd &in_vctAxis, const double in_dAngle)
bool	Set (const CSIBCVector3Dd &in_vctFrom, const CSIBCVector3Dd &in_vctTo, int &out_bFlip)
CSIBCRotationd &	Set (const CSIBCVector3Dd &in_vctX, const CSIBCVector3Dd &in_vctY, const CSIBCVector3Dd &in_vctZ)
bool	MinAlignToX (const CSIBCVector3Dd &in_vct, int &out_bFlip)
bool	MinAlignToY (const CSIBCVector3Dd &in_vct, int &out_bFlip)
bool	MinAlignToZ (const CSIBCVector3Dd &in_vct, int &out_bFlip)
bool	AlignToX (const CSIBCVector3Dd &in_vct, int &out_bFlip)
bool	AlignToY (const CSIBCVector3Dd &in_vct, int &out_bFlip)
bool	AlignToZ (const CSIBCVector3Dd &in_vct, int &out_bFlip)
bool	AlignAxesToVct (const E3DAxisType in_eFirstAxis, const CSIBCVector3Dd &in_vct1, const E3DAxisType in_eSecondAxis, const CSIBCVector3Dd &in_vct2, int &out_bFlip)
CSIBCRotationd &	Mul (CSIBCRotationd &in_rot1, CSIBCRotationd &in_rot2)
CSIBCRotationd &	Mul (CSIBCRotationd &in_rot)
CSIBCRotationd &	LeftMul (CSIBCRotationd &in_rot)
CSIBCRotationd &	MulUsingEulerAnglesTarget (CSIBCRotationd &in_rot1, CSIBCRotationd &in_rot2, CSIBCVector3Dd &in_oEulerAngles)
CSIBCRotationd &	MulAndUpdateEulerAngles (CSIBCRotationd &in_rot1, CSIBCRotationd &in_rot2, ULONG in_ulUseRot1OrUseRot2AsTarget)
CSIBCRotationd &	Invert (CSIBCRotationd &in_rot)
CSIBCRotationd &	Invert ()
CSIBCRotationd &	Interpolate (CSIBCRotationd &in_rot1, CSIBCRotationd &in_rot2, const double in_dU)
CSIBCVector3Dd &	RotateVct (const CSIBCVector3Dd &in_vct, CSIBCVector3Dd &out_vct)
void	RotateVct (const CSIBCVector3Dd *in_vcts, const LONG in_lNbVcts, CSIBCVector3Dd *out_vcts)
CSIBCVector3Dd &	InvRotateVct (const CSIBCVector3Dd &in_vct, CSIBCVector3Dd &out_vct)
void	InvRotateVct (const CSIBCVector3Dd *in_vcts, const LONG in_lNbVcts, CSIBCVector3Dd *out_vcts)
bool	operator== (const CSIBCRotationd &in_rot) const
bool	operator!= (const CSIBCRotationd &in_rot) const
Friends
CSIBCVector3Dd &	MapDirSpaceToWorld (CSIBCRotationd &in_rotFrom, const CSIBCVector3Dd &in_vctDir, CSIBCVector3Dd &out_vctDir)
CSIBCVector3Dd &	MapDirWorldToSpace (CSIBCRotationd &in_rotTo, const CSIBCVector3Dd &in_vctDir, CSIBCVector3Dd &out_vctDir)
CSIBCVector3Dd &	MapDirSpaceToSpace (CSIBCRotationd &in_rotFrom, CSIBCRotationd &in_rotTo, const CSIBCVector3Dd &in_vctDir, CSIBCVector3Dd &out_vctDir)
bool	AreAlmostEqual (const CSIBCRotationd &in_rot1, const CSIBCRotationd &in_rot2, const double in_dEpsilon=PICO_EPS)

Detailed Description

This class is a generic method for representing rotations. It provides a method for representing a rotation without relying on it specific representation. It acts as an interface between different methods of storing rotations. For all operations on rotation objects, double-precision floating point numbers are used. Several useful functions for rotations can be found in Utility functions for angles and rotations.

There are several different specific methods used to store rotations, such as: rotation matricies as in CSIBCRotMatd, quaternions as in CSIBCQuaternion and CSIBCQuaterniond, euler angles, rotations about axis, etc.

Constructor & Destructor Documentation

Constructs a rotation object representing the rotation given by the quaternion in_quat.

Parameters:

in_quat

Quaternion representing the rotation for the new rotation object.

Constructs a rotation object representing the rotation given by the rotation matrix in_matRot.

Parameters:

in_matRot

Rotation matrix representing the rotation for the new rotation object.

Constructs a rotation object representing the rotation given by the set of euler angles (pitch-roll-yaw) in_vctXYZAngles.

Parameters:

in_vctXYZAngles

Set of euler angles representing the rotation for the new rotation object.

Constructs a rotation object representing the rotation given by the set of euler angles (pitch-roll-yaw) in in_dX, in_dY and in_dZ.

Parameters:

	in_dX	The euler angle containing the pitch angle (in radians).
	in_dY	The euler angle containing the roll angle (in radians).
	in_dZ	The euler angle containing the yaw angle (in radians).

Constructs a rotation object representing the rotation given by the rotation of in_dAngle radians about one of the major axis, determined by in_axis.

Parameters:

	in_axis	Major axis of rotation.
	in_dAngle	Angle of rotation about the given major axis (in radians).

Constructs a rotation object representing the rotation given by the rotation of in_dAngle radians about an arbitrary axis, in_vctAxis.

Parameters:

	in_vctAxis	Axis of rotation.
	in_dAngle	Angle of rotation about the given axis (in radians).

Constructs a rotation object representing the rotation required to rotated in_vctFrom to in_vctTo.

Parameters:

	in_vctFrom	Starting point of rotation.
	in_vctTo	Ending point of rotation.

See also:

CSIBCRotationd::Set(const CSIBCVector3Dd&, const CSIBCVector3Dd&, int&)

Member Function Documentation

Determines whether this rotation is the identity rotation (no rotation). Note that this function uses no floating-point error range, meaning that the rotation object must be exactly the identity rotation.

Returns:

bool true if the rotation object is the identity rotation, false otherwise.

See also:

CSIBCRotationd::IsAlmostIdentity

CSIBCRotationd::SetIdentity

Determines whether this rotation is the identity rotation (no rotation). Since this function uses floating-point comparison, a threshhold value of in_dEpsilon is used for equality comparison.

Parameters:

in_dEpsilon

Floating-point comparison error range. Defaults to PICO_EPS.

Returns:

bool true if the rotation object is the identity rotation, false otherwise.

See also:

CSIBCRotationd::IsIdentity

CSIBCRotationd::SetIdentity

Gets the quaternion representation of this rotation object.

Parameters:

out_quat

Receives the quaternion representation of this object.

Returns:

CISBCQuaterniond& Reference to out_quat.

See also:

CSIBCRotationd::GetMatrix

CSIBCRotationd::GetXYZAngles

CSIBCRotationd::GetAxisAngles

Gets the rotation matrix representation of this rotation object. Note that the return value of this function should not be freed.

Returns:

CSIBCRotMatd* Pointer to the rotation matrix representation of this rotation object.

See also:

CSIBCRotationd::GetQuat

CSIBCRotationd::GetMatrix

CSIBCRotationd::GetXYZAngles

CSIBCRotationd::GetAxisAngles

Gets the rotation matrix representation of this rotation object.

Parameters:

out_matRot

Receives the rotation matrix representation of this rotation object.

Returns:

CSIBCRotMatd& Reference to out_matRot.

See also:

CSIBCRotationd::GetQuat

CSIBCRotationd::GetMatrix

CSIBCRotationd::GetXYZAngles

CSIBCRotationd::GetAxisAngles

Gets the euler angles representation of this rotation object (pitch-roll-yaw, in radians).

Parameters:

out_vctXYZAngles

Receives the euler angles representation of this rotation object.

Returns:

CSIBCVector3Dd& Reference to out_vctXYZAngles.

See also:

CSIBCRotationd::GetXYZAngles

CSIBCRotationd::GetQuat

CSIBCRotationd::GetMatrix

CSIBCRotationd::GetAxisAngles

Gets the euler angles representation of this rotation object (pitch-roll-yaw in radians).

Parameters:

	out_dX	Receives the pitch euler angle representation of this rotation object.
	out_dY	Receives the roll euler angle representation of this rotation object.
	out_dZ	Receives the yaw euler angle representation of this rotation object.

See also:

CSIBCRotationd::GetXYZAngles

CSIBCRotationd::GetQuat

CSIBCRotationd::GetMatrix

CSIBCRotationd::GetAxisAngles

Gets the axis rotation representation of this rotation object.

Parameters:

	out_vctAxis	Receives the arbitrary axis of rotation of this rotation object.
	out_dAngle	Receives the angle of rotation (in radians) about the axis of rotation for this rotation object.

See also:

CSIBCRotationd::GetXYZAngles

CSIBCRotationd::GetQuat

CSIBCRotationd::GetMatrix

Sets this rotation object from another rotation object in_rot.

Parameters:

in_rot

Rotation object to set this object equal to.

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Set

Sets this rotation object from a quaternionion, in_quat.

Parameters:

in_rot

Quaternion representing the rotation to set this object equal to.

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Set

Sets this rotation object from a rotation matrix, in_matRot.

Parameters:

in_rot

Rotation matrix representing the rotation to set this object equal to.

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Set

Sets this rotation object from a set of euler angles (pitch-roll-yaw, in radians), in_vctXYZAngles.

Parameters:

in_vctXYZAngles

Sets of euler angles representing the rotation to set this object equal to.

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Set

Sets this rotation object from a set of euler angles (pitch-roll-yaw, in radians), in_dX, in_dY and in_dZ.

Parameters:

	in_dX	Pitch euler angle representing the rotation to set this object equal to.
	in_dY	Roll euler angle representing the rotation to set this object equal to.
	in_dZ	Yaw euler angle representing the rotation to set this object equal to.

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Set

Sets this rotation object from a rotation angle in_dAngle about a major axis given by in_axis.

Parameters:

	in_axis	Axis of rotation.
	in_dAngle	Angle of rotation about in_axis to set this rotation object equal to.

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Set

Sets this rotation object from a rotation angle in_dAngle about an arbitrary axis given by in_vctAxis.

Parameters:

	in_vctAxis	Axis of rotation.
	in_dAngle	Angle of rotation about in_vctAxis to set this rotation objecd equal to.

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Set

Sets this object to a rotation that will rotate around the normal of the plane defined by the two given vectors in_vctFrom and in_vctTo (right-hand rule), with an angle defined by the angle between those two vectors.

Parameters:

	in_vctFrom	Starting point of rotation.
	in_vctTo	Ending point of rotation.
	out_bFlip	Set to true if in_vctFrom and in_vctTo are diametrically opposed, in this case, an arbitrary rotation is chosen between in_vctFrom and in_vctTo, false otherwise.

Returns:

bool true if the operation was successful and the rotation object was set, false if one or both of the input vectors is the null vector.

See also:

CSIBCRotationd::Set

Sets this rotation object to the rotation defined by the X, Y and Z axis of a rotation given by in_vctX, in_vctY and in_vctZ respectively. It is up to the user to ensure that the axis are unity vectors orthogonal to each other.

Parameters:

	in_vctX	X-axis for the rotation to set this rotation object equal to.
	in_vctY	Y-axis for the rotation to set this rotation object equal to.
	in_vctZ	Z-axis for the rotation to set this rotation object equal to.

Sets this rotation object to align with a given X world axis, using the minimal angular displacement.

Parameters:

	in_vct	X-axis for the world vector to align with.
	out_bFlip	Set to true if the current rotation object is diametrically opposed to in_vct, and indicates that a sudden flip in the rotation object has occurred, false otherwise.

Returns:

bool true if the alignment was successful, false if the input vector in_vct is the null vector.

See also:

CSIBCRotationd::MinAlignToY

CSIBCRotationd::MinAlignToZ

CSIBCRotationd::AlignToX

CSIBCRotationd::AlignAxesToVct

Sets this rotation object to align with a given Y world axis, using the minimal angular displacement.

Parameters:

	in_vct	Y-axis for the world vector to align with.
	out_bFlip	Set to true if the current rotation object is diametrically opposed to in_vct, and indicates that a sudden flip in the rotation object has occurred, false otherwise.

Returns:

bool true if the alignment was successful, false if the input vector in_vct is the null vector.

See also:

CSIBCRotationd::MinAlignToX

CSIBCRotationd::MinAlignToZ

CSIBCRotationd::AlignToY

CSIBCRotationd::AlignAxesToVct

Sets this rotation object to align with a given Z world axis, using the minimal angular displacement.

Parameters:

	in_vct	Z-axis for the world vector to align with.
	out_bFlip	Set to true if the current rotation object is diametrically opposed to in_vct, and indicates that a sudden flip in the rotation object has occurred, false otherwise.

Returns:

bool true if the alignment was successful, false if the input vector in_vct is the null vector.

See also:

CSIBCRotationd::MinAlignToX

CSIBCRotationd::MinAlignToY

CSIBCRotationd::AlignToZ

CSIBCRotationd::AlignAxesToVct

Aligns this rotation object to align with a given X world axis.

Parameters:

	in_vct	X-axis for the world vector to align with.
	out_bFlip	Set to true if the current rotation object is diametrically opposed to in_vct, and indicates that a sudden flip in the rotation object has occurred, false otherwise.

Returns:

bool true if the alignment was successful, false if the input vector in_vct is the null vector.

See also:

CSIBCRotationd::AlignToY

CSIBCRotationd::AlignToZ

CSIBCRotationd::MinAlignToX

CSIBCRotationd::AlignAxesToVct

Aligns this rotation object to align with a given Y world axis.

Parameters:

	in_vct	Y-axis for the world vector to align with.
	out_bFlip	Set to true if the current rotation object is diametrically opposed to in_vct, and indicates that a sudden flip in the rotation object has occurred, false otherwise.

Returns:

bool true if the alignment was successful, false if the input vector in_vct is the null vector.

See also:

CSIBCRotationd::AlignToX

CSIBCRotationd::AlignToZ

CSIBCRotationd::MinAlignToY

CSIBCRotationd::AlignAxesToVct

Aligns this rotation object to align with a given Z world axis.

Parameters:

	in_vct	Z-axis for the world vector to align with.
	out_bFlip	Set to true if the current rotation object is diametrically opposed to in_vct, and indicates that a sudden flip in the rotation object has occurred, false otherwise.

Returns:

bool true if the alignment was successful, false if the input vector in_vct is the null vector.

See also:

CSIBCRotationd::AlignToX

CSIBCRotationd::AlignToY

CSIBCRotationd::MinAlignToZ

CSIBCRotationd::AlignAxesToVct

Aligns this rotation object first with the major axis given by in_eFirstAxis, with an axis vector of in_vct1, then aligns the rotation object with the major axis given by in_eSecondAxis, with an axis vector of in_vct2.

Parameters:

	in_eFirstAxis	The major axis of the first alignment.
	in_vct1	The world vector for the major axis defined by in_eFirstAxis.
	in_eSecondAxis	The major axis of the secodn alignment.
	in_vct2	The world vector for the major axis defined by in_eSecondAxis.
	out_bFlip	Set to true if the current rotation object is diametrically opposed to in_vct1, during the first alignment, or in_vct2, during the second alignment. If true, indicates that a sudden flip in the rotation object has occurred, false otherwise.

Returns:

bool true if the alignment was successful, false if the alignment axes in in_eFirstAxis and in_eSecondAxis are the same.

See also:

CSIBCRotationd::AlignToX

CSIBCRotationd::AlignToY

CSIBCRotationd::AlignToZ

Computes the multiplication of in_rot1 and in_rot2 (in_rot1 * in_rot2), and stores the result in this rotation object.

Parameters:

	in_rot1	First rotation object in the multiplication (on the left).
	in_rot2	Second rotation object in the multiplication (on the right).

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Mul

CSIBCRotationd::LeftMul

CSIBCRotationd::MulUsingEulerAnglesTarget

CSIBCRotationd::MulAndUpdateEulerAngles

Computes the multiplication of this rotation object and in_rot (this * in_rot), and stores the result in this rotation object.

Parameters:

in_rot

Rotation object in the multiplication (on the right).

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Mul

CSIBCRotationd::LeftMul

CSIBCRotationd::MulUsingEulerAnglesTarget

CSIBCRotationd::MulAndUpdateEulerAngles

Computes the multiplication of in_rot and this rotation object (in_rot * this), and stores the result in this rotation object.

Parameters:

in_rot

Rotation object in the multiplication (on the left).

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Mul

CSIBCRotationd::LeftMul

CSIBCRotationd::MulUsingEulerAnglesTarget

CSIBCRotationd::MulAndUpdateEulerAngles

Computes the multiplication of in_rot1 and in_rot2 (in_rot1 * in_rot2), and stores the result in this rotation object. The result sets the euler angles associated with the resultant rotation object closest to the set of euler angles given by in_oEulerAngles.

Parameters:

	in_rot1	First rotation object in the multiplication (on the left).
	in_rot2	Second rotation object in the multiplication (on the right).
	in_oEulerAngles	Euler angles most closely representing the desired euler angles (used only with euler angle extraction of this object).

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Mul

CSIBCRotationd::LeftMul

CSIBCRotationd::MulAndUpdateEulerAngles

Computes the multiplication of in_rot1 and in_rot2 (in_rot1 * in_rot2), and stores the result in this rotation object. The result sets the euler angles associated with the resultant rotation object closest to the set of euler angles given by in_rot1 or in_rot2 depending on the value of in_ulUseRot1OrUseRot2AsTarget.

Parameters:

	in_rot1	First rotation object in the multiplication (on the left).
	in_rot2	Second rotation object in the multiplication (on the right).
	in_ulUseRot1OrUseRot2AsTarget	If 1, uses in_rot1 as the euler angle target, if 2, uses in_rot2 as the euler angle target.

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Mul

CSIBCRotationd::LeftMul

CSIBCRotationd::MulUsingEulerAnglesTarget

Sets this rotation object to the inverse of in_rot.

Parameters:

in_rot

Rotation object containing the inverse to set as this rotation object.

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Invert

Sets this rotation object to its inverse.

Returns:

CSIBCRotationd& Reference to this rotation object.

See also:

CSIBCRotationd::Invert

Sets this rotation object to the interpolation between the rotation objects in_rot1, and in_rot2 at a point of in_dU between them.

Parameters:

	in_rot1	Starting point for rotation interpolation.
	in_rot2	Ending point for rotation interpolation.
	in_dU	Interpolation between in_rot1 and in_rot2, in the range [0.0f, 1.0f].

Returns:

CSIBCRotationd& Reference to this rotation object.

Applies this rotation object to a single vector.

Parameters:

	in_vct	The vector to be rotated.
	out_vct	Receives the rotated vector.

Returns:

CSIBCVector3Dd& Reference to out_vct.

See also:

CSIBCRotationd::RotateVct

CSIBCRotationd::InvRotateVct

Applies this rotation object to multiple vectors.

Parameters:

	in_vcts	Array of vectors.
	in_lNbVcts	Number of vectors in in_vcts (and out_vcts).
	out_vcts	Array of vectors receiving the array rotated vectors.

See also:

CSIBCRotationd::RotateVct

CSIBCRotationd::InvRotateVct

Applies the inverse of this rotation object to a single vector.

Parameters:

	in_vct	The vector to be rotated.
	out_vct	Receives the rotated vector.

Returns:

CSIBCVector3Dd& Reference to out_vct.

See also:

CSIBCRotationd::InvRotateVct

CSIBCRotationd::RotateVct

Applies the inverse of this rotation object to multiple vectors.

Parameters:

	in_vcts	Array of vectors.
	in_lNbVcts	Number of vectors in in_vcts (and out_vcts).
	out_vcts	Array of vectors receiving the array rotated vectors.

See also:

CSIBCRotationd::InvRotateVct

CSIBCRotationd::RotateVct

Not implemented yet

Not implemented yet

Friends And Related Function Documentation

Maps a direction vector in_vctDir from world orientation space, to an orientation space given by in_rotTo.

Parameters:

	in_vctTo	The orientation space to map in_vctDir to.
	in_vctDir	The direction vector, defined in world orientation space.
	out_vctDir	Receives in_vctDir mapped from world orientation space to in_rotFrom. return CSIBCVector3Dd& Reference to out_vctDir

See also:

CSIBCRotationd::MapDirSpaceToWorld

CSIBCRotationd::MapDirSpaceToSpace

Maps a direction vector in_vctDir from one orientation space in_rotFrom, to an another orientation space in_rotTo.

Parameters:

	in_rotFrom	Rotation object representing the orientation space which in_vctDir is defined in.
	in_vctTo	The orientation space to map in_vctDir to.
	in_vctDir	The direction vector, defined in world orientation space.
	out_vctDir	Receives in_vctDir mapped from world orientation space to in_rotFrom. return CSIBCVector3Dd& Reference to out_vctDir

See also:

CSIBCRotationd::MapDirSpaceToWorld

CSIBCRotationd::MapDirWorldToSpace

Not implemented yet

• SIBCRotationd.h