8#ifndef META_OCEAN_MATH_SPHERICAL_EXPONENTIAL_MAP_H
9#define META_OCEAN_MATH_SPHERICAL_EXPONENTIAL_MAP_H
59 inline const Vector3 axis()
const;
65 inline Scalar angle()
const;
83 inline const Scalar* data()
const;
96 inline const Scalar& operator[](
const unsigned int index)
const;
103 inline Scalar& operator[](
const unsigned int index);
112 mapRotationAxis(0, 0)
118 mapRotationAxis(wx, wz)
162 ocean_assert(index <= 1u);
169 ocean_assert(index <= 1u);
static constexpr bool isEqualEps(const T value)
Returns whether a value is smaller than or equal to a small epsilon.
Definition Numeric.h:2087
This class implements a axis-angle rotation using floating point values.
Definition Rotation.h:79
This class implements an exponential map representing a 2-DOF rotation.
Definition SphericalExponentialMap.h:31
SphericalExponentialMap(const Vector3 &reference, const Vector3 &offset)
Creates a new exponential map object that rotates a given offset vector to a given reference vector b...
const Scalar & operator[](const unsigned int index) const
Element access operator.
Definition SphericalExponentialMap.h:160
Scalar angle() const
Returns the angle of this rotation object.
Definition SphericalExponentialMap.h:128
Rotation rotation() const
Returns this rotation representation as angle-axis object.
Definition SphericalExponentialMap.h:138
const Vector3 axis() const
Returns the (non-normalized) rotation axis of this object.
Definition SphericalExponentialMap.h:123
SphericalExponentialMap()
Creates a new exponential map object with default (no) rotation.
Definition SphericalExponentialMap.h:111
Vector2 mapRotationAxis
The 2-DOF orientation values with order [wx, wz].
Definition SphericalExponentialMap.h:108
Quaternion quaternion() const
Returns this rotation representation as quaternion object.
Definition SphericalExponentialMap.h:133
const Scalar * data() const
Returns a pointer to the two rotation values of this object (for the x-axis and z-axis).
Definition SphericalExponentialMap.h:150
const T * data() const noexcept
Returns an pointer to the vector elements.
Definition Vector2.h:734
T length() const
Returns the length of the vector.
Definition Vector2.h:627
QuaternionT< Scalar > Quaternion
Definition of the Quaternion object, depending on the OCEAN_MATH_USE_SINGLE_PRECISION either with sin...
Definition Quaternion.h:40
RotationT< Scalar > Rotation
Definition of the Rotation object, depending on the OCEAN_MATH_USE_SINGLE_PRECISION flag either with ...
Definition Rotation.h:38
float Scalar
Definition of a scalar type.
Definition Math.h:129
VectorT3< Scalar > Vector3
Definition of a 3D vector.
Definition Vector3.h:29
The namespace covering the entire Ocean framework.
Definition Accessor.h:15