core/vgl/algo/vgl_rotation_3d.h File Reference

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

#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 <vcl_cmath.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>
#include <vcl_vector.h>
#include <vcl_iostream.h>

Go to the source code of this file.

Classes
class	vgl_rotation_3d< T >
Functions
template<class T >
vcl_ostream &	operator<< (vcl_ostream &s, vgl_rotation_3d< T > const &R)
template<class T >
void	vgl_rotate_3d (vgl_rotation_3d< T > const &rot, vcl_vector< vgl_homg_point_3d< T > > &pts)
	In-place rotation of a vector of homogeneous points.

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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.

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Function Documentation

template<class T >

vcl_ostream& operator<<	(	vcl_ostream &	s,
		vgl_rotation_3d< T > const &	R
	)

Definition at line 274 of file vgl_rotation_3d.h.

template<class T >

void vgl_rotate_3d	(	vgl_rotation_3d< T > const &	rot,
		vcl_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 285 of file vgl_rotation_3d.h.