RotationMatrix Class Reference

Representation for 3x3 RotationMatrices. More...

#include <Matrix.h>

Inheritance diagram for RotationMatrix:

[legend]Collaboration diagram for RotationMatrix:

[legend]List of all members.


Public Member Functions
	RotationMatrix ()
	Default constructor.
	RotationMatrix (const Vector3< double > &c0, const Vector3< double > &c1, const Vector3< double > &c2)
	Constructor.
RotationMatrix &	operator= (const Matrix3x3< double > &other)
	Assignment operator.
	RotationMatrix (const Matrix3x3< double > &other)
	Copy constructor.
RotationMatrix &	fromKardanRPY (const double yaw, const double pitch, const double roll)
	RotationMatrix from RPY-angles.
RotationMatrix	invert ()
	Invert the matrix.
RotationMatrix &	rotateX (const double angle)
	Rotation around the x-axis.
RotationMatrix &	rotateY (const double angle)
	Rotation around the y-axis.
RotationMatrix &	rotateZ (const double angle)
	Rotation around the z-axis.
double	getXAngle () const
	Get the x-angle of a RotationMatrix.
double	getYAngle () const
	Get the y-angle of a RotationMatrix.
double	getZAngle () const
	Get the z-angle of a RotationMatrix.
Static Public Member Functions
RotationMatrix	getRotationX (const double angle)
	Create and return a RotationMatrix, rotated around x-axis.
RotationMatrix	getRotationY (const double angle)
	Create and return a RotationMatrix, rotated around y-axis.
RotationMatrix	getRotationZ (const double angle)
	Create and return a RotationMatrix, rotated around z-axis.

Detailed Description

Representation for 3x3 RotationMatrices.

Definition at line 302 of file Matrix.h.

Constructor & Destructor Documentation

RotationMatrix::RotationMatrix ( ) [inline]

Default constructor.

Definition at line 307 of file Matrix.h.
Referenced by getRotationX(), getRotationY(), getRotationZ(), rotateX(), rotateY(), and rotateZ().

RotationMatrix::RotationMatrix ( const Vector3< double > & c0,

const Vector3< double > & c1,

const Vector3< double > & c2

) [inline]

Constructor.

Parameters:

c0 the first column of the matrix.

c1 the second column of the matrix.

c2 the third column of the matrix.

Definition at line 316 of file Matrix.h.

RotationMatrix::RotationMatrix ( const Matrix3x3< double > & other ) [inline]

Copy constructor.

Parameters:

other The other matrix that is copied to this one

Definition at line 344 of file Matrix.h.

Member Function Documentation

RotationMatrix& RotationMatrix::operator= ( const Matrix3x3< double > & other ) [inline]

Assignment operator.

Parameters:

other The other matrix that is assigned to this one

Returns:
A reference to this object after the assignment.

Reimplemented from Matrix3x3< double >.
Definition at line 331 of file Matrix.h.
References Matrix3x3< V >::c.

RotationMatrix & RotationMatrix::fromKardanRPY ( const double yaw,

const double pitch,

const double roll

)

RotationMatrix from RPY-angles.
Roll rotates along z axis, Pitch rotates along y axis, Yaw rotates along x axis
R(roll,pitch,yaw) = R(z,roll)*R(y,pitch)*R(x,yaw)

See also:
"Robotik 1 Ausgabe Sommersemester 2001" by Prof. Dr. O. von Stryk

Attention:
RPY-angles are not clearly defined!

Definition at line 13 of file Matrix.cpp.
Referenced by Geometry::relative2FieldCoord().

RotationMatrix RotationMatrix::invert ( ) [inline]

Invert the matrix.

Note:
: Inverted rotation matrix is transposed matrix.

Definition at line 367 of file Matrix.h.
References Matrix3x3< double >::transpose().
Referenced by Geometry::calculatePointByAngles(), and MotionRecognition::getCameraTranslation().