Ocean::SphericalExponentialMap Class Reference

This class implements an exponential map representing a 2-DOF rotation. More...

Public Member Functions
	SphericalExponentialMap ()
	Creates a new exponential map object with default (no) rotation. More...
	SphericalExponentialMap (const Scalar wx, const Scalar wz)
	Creates an exponential map object by a given 3D rotation axis (lying in the xz-plane) with axis length defining the rotation angle in radian. More...
	SphericalExponentialMap (const Vector3 &reference, const Vector3 &offset)
	Creates a new exponential map object that rotates a given offset vector to a given reference vector both lying on the same unit sphere in 3D space. More...
const Vector3	axis () const
	Returns the (non-normalized) rotation axis of this object. More...
Scalar	angle () const
	Returns the angle of this rotation object. More...
Quaternion	quaternion () const
	Returns this rotation representation as quaternion object. More...
Rotation	rotation () const
	Returns this rotation representation as angle-axis object. More...
const Scalar *	data () const
	Returns a pointer to the two rotation values of this object (for the x-axis and z-axis). More...
Scalar *	data ()
	Returns a pointer to the two rotation values of this object (for the x-axis and z-axis). More...
const Scalar &	operator[] (const unsigned int index) const
	Element access operator. More...
Scalar &	operator[] (const unsigned int index)
	Element access operator. More...

Protected Attributes
Vector2	mapRotationAxis
	The 2-DOF orientation values with order [wx, wz]. More...

Detailed Description

This class implements an exponential map representing a 2-DOF rotation.

Thus, this class allows to define a rotation between two 3D coordinates located on a sphere (with 2 degrees of freedom).
The rotation is defined by two scalar parameters defining a 3D vector located in the xz-plane (having zero as value for the y-axis).
The 3D vector defines the rotation axis and the length of the vector defined the rotation angle.
This class can be used to store the 3D position of a point lying on a sphere by two scalar parameters.
Further, this class can be used to rotate a 3D point lying on a sphere to any other position on that sphere.
Compared to an Euler rotation (3-DOF), the SphericalExponentialMap (2-DOF) holds/provides/stores a yaw-angle and a pitch-angle, but not roll-angle.
The SphericalExponentialMap class can be seen as a specialization of the ExponentialMap.

See also

ExponentialMap, Rotation, Quaternion, Euler.

Constructor & Destructor Documentation

SphericalExponentialMap() [1/3]

Ocean::SphericalExponentialMap::SphericalExponentialMap ( )

inline

Creates a new exponential map object with default (no) rotation.

SphericalExponentialMap() [2/3]

Ocean::SphericalExponentialMap::SphericalExponentialMap ( const Scalar  wx, const Scalar  wz  )

inline

Creates an exponential map object by a given 3D rotation axis (lying in the xz-plane) with axis length defining the rotation angle in radian.

Parameters

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

SphericalExponentialMap() [3/3]

Ocean::SphericalExponentialMap::SphericalExponentialMap	(	const Vector3 &	reference,
		const Vector3 &	offset
	)

Creates a new exponential map object that rotates a given offset vector to a given reference vector both lying on the same unit sphere in 3D space.

The following equation holds: offset = SphericalExponentialMap(reference, offset).rotation() * reference.

Parameters

reference	The reference vector, with unit length
offset	The offset vector, with unit length

Member Function Documentation

angle()

Scalar Ocean::SphericalExponentialMap::angle ( ) const

inline

Returns the angle of this rotation object.

Returns

Rotation angle, in radian

axis()

const Vector3 Ocean::SphericalExponentialMap::axis ( ) const

inline

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

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

Returns

Non normalized rotation axis (in 3D space lying in the xz-plane)

data() [1/2]

Scalar * Ocean::SphericalExponentialMap::data ( )

inline

Returns a pointer to the two rotation values of this object (for the x-axis and z-axis).

Returns

Pointer to the rotation values, with order [wx, wz]

data() [2/2]

const Scalar * Ocean::SphericalExponentialMap::data ( ) const

inline

Returns a pointer to the two rotation values of this object (for the x-axis and z-axis).

Returns

Pointer to the rotation values, with order [wx, wz]

operator[]() [1/2]

Scalar & Ocean::SphericalExponentialMap::operator[] ( const unsigned int  index )

inline

Element access operator.

Parameters

index

The index of the element to access, with range [0, 1]

Returns

The requested element

operator[]() [2/2]

const Scalar & Ocean::SphericalExponentialMap::operator[] ( const unsigned int  index ) const

inline

Element access operator.

Parameters

index

The index of the element to access, with range [0, 1]

Returns

The requested element

quaternion()

Quaternion Ocean::SphericalExponentialMap::quaternion ( ) const

inline

Returns this rotation representation as quaternion object.

Returns

Equivalent quaternion rotation

rotation()

Rotation Ocean::SphericalExponentialMap::rotation ( ) const

inline

Returns this rotation representation as angle-axis object.

Returns

Equivalent rotation

Field Documentation

mapRotationAxis

Vector2 Ocean::SphericalExponentialMap::mapRotationAxis

protected

The 2-DOF orientation values with order [wx, wz].

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

• SphericalExponentialMap.h