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<h1>EulerAngles.h</h1> </div>
</div>
<div class="contents">
<a href="_euler_angles_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// This file is part of Eigen, a lightweight C++ template library</span>
<a name="l00002"></a>00002 <span class="comment">// for linear algebra.</span>
<a name="l00003"></a>00003 <span class="comment">//</span>
<a name="l00004"></a>00004 <span class="comment">// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr></span>
<a name="l00005"></a>00005 <span class="comment">//</span>
<a name="l00006"></a>00006 <span class="comment">// Eigen is free software; you can redistribute it and/or</span>
<a name="l00007"></a>00007 <span class="comment">// modify it under the terms of the GNU Lesser General Public</span>
<a name="l00008"></a>00008 <span class="comment">// License as published by the Free Software Foundation; either</span>
<a name="l00009"></a>00009 <span class="comment">// version 3 of the License, or (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment">//</span>
<a name="l00011"></a>00011 <span class="comment">// Alternatively, you can redistribute it and/or</span>
<a name="l00012"></a>00012 <span class="comment">// modify it under the terms of the GNU General Public License as</span>
<a name="l00013"></a>00013 <span class="comment">// published by the Free Software Foundation; either version 2 of</span>
<a name="l00014"></a>00014 <span class="comment">// the License, or (at your option) any later version.</span>
<a name="l00015"></a>00015 <span class="comment">//</span>
<a name="l00016"></a>00016 <span class="comment">// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY</span>
<a name="l00017"></a>00017 <span class="comment">// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS</span>
<a name="l00018"></a>00018 <span class="comment">// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the</span>
<a name="l00019"></a>00019 <span class="comment">// GNU General Public License for more details.</span>
<a name="l00020"></a>00020 <span class="comment">//</span>
<a name="l00021"></a>00021 <span class="comment">// You should have received a copy of the GNU Lesser General Public</span>
<a name="l00022"></a>00022 <span class="comment">// License and a copy of the GNU General Public License along with</span>
<a name="l00023"></a>00023 <span class="comment">// Eigen. If not, see <http://www.gnu.org/licenses/>.</span>
<a name="l00024"></a>00024
<a name="l00025"></a>00025 <span class="preprocessor">#ifndef EIGEN_EULERANGLES_H</span>
<a name="l00026"></a>00026 <span class="preprocessor"></span><span class="preprocessor">#define EIGEN_EULERANGLES_H</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00028"></a>00028 <span class="comment">/** \geometry_module \ingroup Geometry_Module</span>
<a name="l00029"></a>00029 <span class="comment"> *</span>
<a name="l00030"></a>00030 <span class="comment"> *</span>
<a name="l00031"></a>00031 <span class="comment"> * \returns the Euler-angles of the rotation matrix \c *this using the convention defined by the triplet (\a a0,\a a1,\a a2)</span>
<a name="l00032"></a>00032 <span class="comment"> *</span>
<a name="l00033"></a>00033 <span class="comment"> * Each of the three parameters \a a0,\a a1,\a a2 represents the respective rotation axis as an integer in {0,1,2}.</span>
<a name="l00034"></a>00034 <span class="comment"> * For instance, in:</span>
<a name="l00035"></a>00035 <span class="comment"> * \code Vector3f ea = mat.eulerAngles(2, 0, 2); \endcode</span>
<a name="l00036"></a>00036 <span class="comment"> * "2" represents the z axis and "0" the x axis, etc. The returned angles are such that</span>
<a name="l00037"></a>00037 <span class="comment"> * we have the following equality:</span>
<a name="l00038"></a>00038 <span class="comment"> * \code</span>
<a name="l00039"></a>00039 <span class="comment"> * mat == AngleAxisf(ea[0], Vector3f::UnitZ())</span>
<a name="l00040"></a>00040 <span class="comment"> * * AngleAxisf(ea[1], Vector3f::UnitX())</span>
<a name="l00041"></a>00041 <span class="comment"> * * AngleAxisf(ea[2], Vector3f::UnitZ()); \endcode</span>
<a name="l00042"></a>00042 <span class="comment"> * This corresponds to the right-multiply conventions (with right hand side frames).</span>
<a name="l00043"></a>00043 <span class="comment"> */</span>
<a name="l00044"></a>00044 <span class="keyword">template</span><<span class="keyword">typename</span> Derived>
<a name="l00045"></a>00045 <span class="keyword">inline</span> <a class="code" href="class_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Matrix<typename MatrixBase<Derived>::Scalar</a>,3,1>
<a name="l00046"></a><a class="code" href="group___geometry___module.html#gad66776635d6da109a7e696b5dbe748ac">00046</a> <a class="code" href="group___geometry___module.html#gad66776635d6da109a7e696b5dbe748ac">MatrixBase<Derived>::eulerAngles</a>(<a class="code" href="class_dense_base.html#a059039d9d011413c873e6ae05ee912b6" title="The type of indices.">Index</a> a0, <a class="code" href="class_dense_base.html#a059039d9d011413c873e6ae05ee912b6" title="The type of indices.">Index</a> a1, <a class="code" href="class_dense_base.html#a059039d9d011413c873e6ae05ee912b6" title="The type of indices.">Index</a> a2)<span class="keyword"> const</span>
<a name="l00047"></a>00047 <span class="keyword"></span>{
<a name="l00048"></a>00048 <span class="comment">/* Implemented from Graphics Gems IV */</span>
<a name="l00049"></a>00049 <a class="code" href="_static_assert_8h.html#a60a9ff4c2bc47b84024a471210d292ba">EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE</a>(Derived,3,3)
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <a class="code" href="class_matrix.html">Matrix<Scalar,3,1></a> res;
<a name="l00052"></a>00052 <span class="keyword">typedef</span> <a class="code" href="class_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Matrix<typename Derived::Scalar,2,1></a> Vector2;
<a name="l00053"></a>00053 <span class="keyword">const</span> <a class="code" href="class_dense_base.html#a6a6c17e367430ca95523eb3fe7db9076">Scalar</a> epsilon = <a class="code" href="struct_num_traits.html" title="Holds information about the various numeric (i.e.">NumTraits<Scalar>::dummy_precision</a>();
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="keyword">const</span> <a class="code" href="class_dense_base.html#a059039d9d011413c873e6ae05ee912b6" title="The type of indices.">Index</a> odd = ((a0+1)%3 == a1) ? 0 : 1;
<a name="l00056"></a>00056 <span class="keyword">const</span> <a class="code" href="class_dense_base.html#a059039d9d011413c873e6ae05ee912b6" title="The type of indices.">Index</a> i = a0;
<a name="l00057"></a>00057 <span class="keyword">const</span> <a class="code" href="class_dense_base.html#a059039d9d011413c873e6ae05ee912b6" title="The type of indices.">Index</a> j = (a0 + 1 + odd)%3;
<a name="l00058"></a>00058 <span class="keyword">const</span> <a class="code" href="class_dense_base.html#a059039d9d011413c873e6ae05ee912b6" title="The type of indices.">Index</a> k = (a0 + 2 - odd)%3;
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="keywordflow">if</span> (a0==a2)
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 <a class="code" href="class_dense_base.html#a6a6c17e367430ca95523eb3fe7db9076">Scalar</a> s = Vector2(coeff(j,i) , coeff(k,i)).norm();
<a name="l00063"></a>00063 res[1] = internal::atan2(s, coeff(i,i));
<a name="l00064"></a>00064 <span class="keywordflow">if</span> (s > epsilon)
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066 res[0] = internal::atan2(coeff(j,i), coeff(k,i));
<a name="l00067"></a>00067 res[2] = internal::atan2(coeff(i,j),-coeff(i,k));
<a name="l00068"></a>00068 }
<a name="l00069"></a>00069 <span class="keywordflow">else</span>
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 res[0] = <a class="code" href="class_dense_base.html#a6a6c17e367430ca95523eb3fe7db9076">Scalar</a>(0);
<a name="l00072"></a>00072 res[2] = (coeff(i,i)>0?1:-1)*internal::atan2(-coeff(k,j), coeff(j,j));
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074 }
<a name="l00075"></a>00075 <span class="keywordflow">else</span>
<a name="l00076"></a>00076 {
<a name="l00077"></a>00077 <a class="code" href="class_dense_base.html#a6a6c17e367430ca95523eb3fe7db9076">Scalar</a> c = Vector2(coeff(i,i) , coeff(i,j)).norm();
<a name="l00078"></a>00078 res[1] = internal::atan2(-coeff(i,k), c);
<a name="l00079"></a>00079 <span class="keywordflow">if</span> (c > epsilon)
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081 res[0] = internal::atan2(coeff(j,k), coeff(k,k));
<a name="l00082"></a>00082 res[2] = internal::atan2(coeff(i,j), coeff(i,i));
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084 <span class="keywordflow">else</span>
<a name="l00085"></a>00085 {
<a name="l00086"></a>00086 res[0] = <a class="code" href="class_dense_base.html#a6a6c17e367430ca95523eb3fe7db9076">Scalar</a>(0);
<a name="l00087"></a>00087 res[2] = (coeff(i,k)>0?1:-1)*internal::atan2(-coeff(k,j), coeff(j,j));
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089 }
<a name="l00090"></a>00090 <span class="keywordflow">if</span> (!odd)
<a name="l00091"></a>00091 res = -res;
<a name="l00092"></a>00092 <span class="keywordflow">return</span> res;
<a name="l00093"></a>00093 }
<a name="l00094"></a>00094
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="preprocessor">#endif // EIGEN_EULERANGLES_H</span>
</pre></div></div>
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