This class implements an exponential map defining a rotation by three parameters. More...

#include <ExponentialMap.h>

Public Member Functions
	ExponentialMapT ()=default
	Creates a default rotation.

	ExponentialMapT (const VectorT3< T > &rotation)
	Creates a rotation based on a given 3D axis with axis length defining the rotation angle in radian.

	ExponentialMapT (const T wx, const T wy, const T wz)
	Creates a rotation based on a given 3D axis with axis length defining the rotation angle in radian.

	ExponentialMapT (const VectorT3< T > &axis, const T angle)
	Creates a rotation based on a given 3D axis with length 1 and a given rotation angle.

	ExponentialMapT (const RotationT< T > &rotation)
	Creates an rotation based on a given angle-axis rotation.

	ExponentialMapT (const QuaternionT< T > &rotation)
	Creates a rotation based on a quaternion.

	ExponentialMapT (const SquareMatrixT3< T > &rotation)
	Creates a rotation based on a 3x3 rotation matrix.

template<typename U >
	ExponentialMapT (const ExponentialMapT< U > &exponentialMap) noexcept
	Copies an exponential map with different element data type than T.

const VectorT3< T > &	axis () const
	Returns the (non-normalized) axis of this rotation object.

T	angle () const
	Returns the angle of this rotation object.

QuaternionT< T >	quaternion () const
	Returns this rotation object as quaternion object.

RotationT< T >	rotation () const
	Returns this rotation object as angle-axis object.

const T *	data () const
	Returns a pointer to the three rotation values of this object.

const T &	operator[] (const unsigned int index) const
	Returns the individual rotation values of this map.

T &	operator[] (const unsigned int index)
	Returns the individual rotation values of this map.

ExponentialMapT< T >	operator+ (const ExponentialMapT< T > &exponentialMap) const
	Adds two exponential map objects.

ExponentialMapT< T > &	operator+= (const ExponentialMapT< T > &exponentialMap)
	Adds two exponential map objects.

ExponentialMapT< T >	operator- (const ExponentialMapT< T > &exponentialMap) const
	Subtracts two exponential map objects.

ExponentialMapT< T > &	operator-= (const ExponentialMapT< T > &exponentialMap)
	Subtracts two exponential map objects.

Private Attributes
VectorT3< T >	value_ = VectorT3<T>(0, 0, 0)
	Axis defining the rotation normal while the length defines the rotation angle.

Detailed Description

template<typename T>
class Ocean::ExponentialMapT< T >

This class implements an exponential map defining a rotation by three parameters.

The three parameter define the rotation axis, while the length of the axis vector defines the rotation angle in radian.

Template Parameters

T	Floating point data type to be used

See also: SphericalExponentialMap, Rotation, Quaternion, Euler.

Constructor & Destructor Documentation

◆ ExponentialMapT() [1/8]

template<typename T >

Ocean::ExponentialMapT< T >::ExponentialMapT ( )

default

Creates a default rotation.

◆ ExponentialMapT() [2/8]

template<typename T >

Ocean::ExponentialMapT< T >::ExponentialMapT ( const VectorT3< T > & rotation )

inlineexplicit

Creates a rotation based on a given 3D axis with axis length defining the rotation angle in radian.

Parameters

rotation 3D vector defining the rotation

◆ ExponentialMapT() [3/8]

template<typename T >

Ocean::ExponentialMapT< T >::ExponentialMapT	(	const T	wx,
		const T	wy,
		const T	wz
	)

inline

Creates a rotation based on a given 3D axis with axis length defining the rotation angle in radian.

Parameters

wx	X component of the rotation axis
wy	Y component of the rotation axis
wz	Z component of the rotation axis

◆ ExponentialMapT() [4/8]

template<typename T >

Ocean::ExponentialMapT< T >::ExponentialMapT	(	const VectorT3< T > &	axis,
		const T	angle
	)

inline

Creates a rotation based on a given 3D axis with length 1 and a given rotation angle.

Parameters

axis	Normalized rotation axis
angle	The angle of the rotation, in radian

◆ ExponentialMapT() [5/8]

template<typename T >

Ocean::ExponentialMapT< T >::ExponentialMapT ( const RotationT< T > & rotation )

inlineexplicit

Creates an rotation based on a given angle-axis rotation.

Parameters

rotation the rotation to be used, must be valid

◆ ExponentialMapT() [6/8]

template<typename T >

Ocean::ExponentialMapT< T >::ExponentialMapT ( const QuaternionT< T > & rotation )

explicit

Creates a rotation based on a quaternion.

Parameters

rotation The rotation to be used, must be valid

◆ ExponentialMapT() [7/8]

template<typename T >

Ocean::ExponentialMapT< T >::ExponentialMapT ( const SquareMatrixT3< T > & rotation )

explicit

Creates a rotation based on a 3x3 rotation matrix.

Parameters

rotation The rotation matrix to be used, must be valid

◆ ExponentialMapT() [8/8]

template<typename T >

template<typename U >

Ocean::ExponentialMapT< T >::ExponentialMapT ( const ExponentialMapT< U > & exponentialMap )

inlineexplicitnoexcept

Copies an exponential map with different element data type than T.

Parameters

exponentialMap The exponential map to copy

Template Parameters

U	The element data type of the exponential map

Member Function Documentation

◆ angle()

template<typename T >

T Ocean::ExponentialMapT< T >::angle ( ) const

inline

Returns the angle of this rotation object.

Returns: Rotation angle in radian

◆ axis()

template<typename T >

const VectorT3< T > & Ocean::ExponentialMapT< T >::axis ( ) const

inline

Returns the (non-normalized) axis of this rotation object.

Beware: This axis has a length equal to the rotation angle in radian.

Returns: Non normalized rotation axis

◆ data()

template<typename T >

const T * Ocean::ExponentialMapT< T >::data ( ) const

inline

Returns a pointer to the three rotation values of this object.

Returns: The three rotation values

◆ operator+()

template<typename T >

ExponentialMapT< T > Ocean::ExponentialMapT< T >::operator+ ( const ExponentialMapT< T > & exponentialMap ) const

inline

Adds two exponential map objects.

Parameters

exponentialMap Exponential map to be (component wise) added

Returns: New exponential map object

◆ operator+=()

template<typename T >

ExponentialMapT< T > & Ocean::ExponentialMapT< T >::operator+= ( const ExponentialMapT< T > & exponentialMap )

inline

Adds two exponential map objects.

Parameters

exponentialMap Exponential map to be (component wise) added

Returns: Reference to this object

◆ operator-()

template<typename T >

ExponentialMapT< T > Ocean::ExponentialMapT< T >::operator- ( const ExponentialMapT< T > & exponentialMap ) const

inline

Subtracts two exponential map objects.

Parameters

exponentialMap Exponential map to be (component wise) subtracted

Returns: New exponential map object

◆ operator-=()

template<typename T >

ExponentialMapT< T > & Ocean::ExponentialMapT< T >::operator-= ( const ExponentialMapT< T > & exponentialMap )

inline

Subtracts two exponential map objects.

Parameters

exponentialMap Exponential map to be (component wise) subtracted

Returns: Reference to this object

◆ operator[]() [1/2]

template<typename T >

T & Ocean::ExponentialMapT< T >::operator[] ( const unsigned int index )

inline

Returns the individual rotation values of this map.

Parameters

index The index of the value to return, with range [0, 2]

Returns: The requested index

◆ operator[]() [2/2]

template<typename T >

const T & Ocean::ExponentialMapT< T >::operator[] ( const unsigned int index ) const

inline

Returns the individual rotation values of this map.

Parameters

index The index of the value to return, with range [0, 2]

Returns: The requested index

◆ quaternion()

template<typename T >

QuaternionT< T > Ocean::ExponentialMapT< T >::quaternion ( ) const

inline

Returns this rotation object as quaternion object.

Returns: Equivalent quaternion rotation

◆ rotation()

template<typename T >

RotationT< T > Ocean::ExponentialMapT< T >::rotation ( ) const

inline

Returns this rotation object as angle-axis object.

Returns: Equivalent rotation

Field Documentation

◆ value_

template<typename T >

VectorT3<T> Ocean::ExponentialMapT< T >::value_ = VectorT3<T>(0, 0, 0)

private

Axis defining the rotation normal while the length defines the rotation angle.

The documentation for this class was generated from the following file:

ExponentialMap.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ExponentialMapT() [1/8]

◆ ExponentialMapT() [2/8]

◆ ExponentialMapT() [3/8]

◆ ExponentialMapT() [4/8]

◆ ExponentialMapT() [5/8]

◆ ExponentialMapT() [6/8]

◆ ExponentialMapT() [7/8]

◆ ExponentialMapT() [8/8]

Member Function Documentation

◆ angle()

◆ axis()

◆ data()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ quaternion()

◆ rotation()

Field Documentation

◆ value_