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<a href="classEigen_1_1AngleAxis-members.html">List of all members</a> |
<a href="#pub-types">Public Types</a> |
<a href="#pub-methods">Public Member Functions</a> |
<a href="#friends">Friends</a> </div>
<div class="headertitle">
<div class="title">AngleAxis< Scalar > Class Template Reference<div class="ingroups"><a class="el" href="group__Geometry__Module.html">Geometry module</a></div></div> </div>
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<div class="contents">
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template<typename Scalar><br/>
class Eigen::AngleAxis< Scalar ></h3>
<p>Represents a 3D rotation as a rotation angle around an arbitrary 3D axis. </p>
<p>This is defined in the Geometry module.</p>
<div class="fragment"><div class="line"><span class="preprocessor">#include <Eigen/Geometry></span> </div>
</div><!-- fragment --><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">_Scalar</td><td>the scalar type, i.e., the type of the coefficients.</td></tr>
</table>
</dd>
</dl>
<dl class="section warning"><dt>Warning</dt><dd>When setting up an <a class="el" href="classEigen_1_1AngleAxis.html" title="Represents a 3D rotation as a rotation angle around an arbitrary 3D axis. ">AngleAxis</a> object, the axis vector <b>must</b> <b>be</b> <b>normalized</b>.</dd></dl>
<p>The following two typedefs are provided for convenience: </p>
<ul>
<li><code>AngleAxisf</code> for <code>float</code> </li>
<li><code>AngleAxisd</code> for <code>double</code> </li>
</ul>
<p>Combined with <a class="el" href="classEigen_1_1MatrixBase.html#ae908d6321d43a20ed57d9f6c1c6acbe9">MatrixBase::Unit</a>{X,Y,Z}, <a class="el" href="classEigen_1_1AngleAxis.html" title="Represents a 3D rotation as a rotation angle around an arbitrary 3D axis. ">AngleAxis</a> can be used to easily mimic Euler-angles. Here is an example: </p>
<div class="fragment"><div class="line"><a class="code" href="group__matrixtypedefs.html#ga2b787393a7fc870d99aa634f60b2510c">Matrix3f</a> m;</div>
<div class="line">m = <a class="code" href="group__Geometry__Module.html#ga811d6fdab2002723bc7a72f055ce8c1d">AngleAxisf</a>(0.25*M_PI, <a class="code" href="classEigen_1_1MatrixBase.html#a5e0e42c39330e4274d2d0479048ebc37">Vector3f::UnitX</a>())</div>
<div class="line"> * <a class="code" href="group__Geometry__Module.html#ga811d6fdab2002723bc7a72f055ce8c1d">AngleAxisf</a>(0.5*M_PI, <a class="code" href="classEigen_1_1MatrixBase.html#abc925a22c4f4b48b5b10fa90924f14c1">Vector3f::UnitY</a>())</div>
<div class="line"> * <a class="code" href="group__Geometry__Module.html#ga811d6fdab2002723bc7a72f055ce8c1d">AngleAxisf</a>(0.33*M_PI, <a class="code" href="classEigen_1_1MatrixBase.html#a135f14351a7213bf0b764272c14ca68c">Vector3f::UnitZ</a>());</div>
<div class="line">cout << m << endl << <span class="stringliteral">"is unitary: "</span> << m.isUnitary() << endl;</div>
</div><!-- fragment --><p> Output: </p>
<pre class="fragment">1.19e-07 0 1
0.969 -0.249 0
0.249 0.969 1.19e-07
is unitary: 1
</pre><dl class="section note"><dt>Note</dt><dd>This class is not aimed to be used to store a rotation transformation, but rather to make easier the creation of other rotation (<a class="el" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">Quaternion</a>, rotation <a class="el" href="classEigen_1_1Matrix.html" title="The matrix class, also used for vectors and row-vectors. ">Matrix</a>) and transformation objects.</dd></dl>
<dl class="section see"><dt>See Also</dt><dd>class <a class="el" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">Quaternion</a>, class <a class="el" href="classEigen_1_1Transform.html" title="Represents an homogeneous transformation in a N dimensional space. ">Transform</a>, <a class="el" href="classEigen_1_1MatrixBase.html#a5e0e42c39330e4274d2d0479048ebc37">MatrixBase::UnitX()</a> </dd></dl>
</div><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
<img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for AngleAxis< Scalar >:</div>
<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-0-content" class="dyncontent" style="display:none;">
<div class="center"><img src="classEigen_1_1AngleAxis__inherit__graph.png" border="0" usemap="#AngleAxis_3_01Scalar_01_4_inherit__map" alt="Inheritance graph"/></div>
<map name="AngleAxis_3_01Scalar_01_4_inherit__map" id="AngleAxis_3_01Scalar_01_4_inherit__map">
<area shape="rect" id="node2" href="classEigen_1_1RotationBase.html" title="{RotationBase\< AngleAxis\l\< _Scalar \>, 3 \>\n||+ _transformVector()\l+ derived()\l+ derived()\l+ inverse()\l+ matrix()\l+ operator*()\l+ operator*()\l+ operator*()\l+ operator*()\l+ toRotationMatrix()\l}" alt="" coords="5,5,176,229"/></map>
</div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:abb59a4f54aebad6325389d49d48de310"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a>< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, Dim > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a></td></tr>
<tr class="separator:abb59a4f54aebad6325389d49d48de310"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aea29b63b6c32046ae9a471d82c5cf869"><td class="memItemLeft" align="right" valign="top">typedef _Scalar </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a></td></tr>
<tr class="separator:aea29b63b6c32046ae9a471d82c5cf869"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a38772216b8d784ddbe99d2d3df961f32"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a38772216b8d784ddbe99d2d3df961f32">AngleAxis</a> ()</td></tr>
<tr class="separator:a38772216b8d784ddbe99d2d3df961f32"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aff009fcfc0377acd2db48fb754ae1f62"><td class="memTemplParams" colspan="2">template<typename Derived > </td></tr>
<tr class="memitem:aff009fcfc0377acd2db48fb754ae1f62"><td class="memTemplItemLeft" align="right" valign="top"> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#aff009fcfc0377acd2db48fb754ae1f62">AngleAxis</a> (const <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> &angle, const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< Derived > &axis)</td></tr>
<tr class="separator:aff009fcfc0377acd2db48fb754ae1f62"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aae1f1d7628b3f3d29e26dc480f4d037d"><td class="memTemplParams" colspan="2">template<typename QuatDerived > </td></tr>
<tr class="memitem:aae1f1d7628b3f3d29e26dc480f4d037d"><td class="memTemplItemLeft" align="right" valign="top"> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#aae1f1d7628b3f3d29e26dc480f4d037d">AngleAxis</a> (const <a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>< QuatDerived > &q)</td></tr>
<tr class="separator:aae1f1d7628b3f3d29e26dc480f4d037d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a45ad10816a418d3d86130608fd6ca996"><td class="memTemplParams" colspan="2">template<typename Derived > </td></tr>
<tr class="memitem:a45ad10816a418d3d86130608fd6ca996"><td class="memTemplItemLeft" align="right" valign="top"> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a45ad10816a418d3d86130608fd6ca996">AngleAxis</a> (const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< Derived > &m)</td></tr>
<tr class="separator:a45ad10816a418d3d86130608fd6ca996"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ad71c1c9e6a581420cba5205f837af1b5"><td class="memTemplParams" colspan="2">template<typename OtherScalarType > </td></tr>
<tr class="memitem:ad71c1c9e6a581420cba5205f837af1b5"><td class="memTemplItemLeft" align="right" valign="top"> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#ad71c1c9e6a581420cba5205f837af1b5">AngleAxis</a> (const <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>< OtherScalarType > &other)</td></tr>
<tr class="separator:ad71c1c9e6a581420cba5205f837af1b5"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0469e863c2bf6b5c2d5655c8f4956d65"><td class="memTemplParams" colspan="2">template<typename NewScalarType > </td></tr>
<tr class="memitem:a0469e863c2bf6b5c2d5655c8f4956d65"><td class="memTemplItemLeft" align="right" valign="top">internal::cast_return_type<br class="typebreak"/>
< <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>, <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a><br class="typebreak"/>
< NewScalarType > >::type </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a0469e863c2bf6b5c2d5655c8f4956d65">cast</a> () const </td></tr>
<tr class="separator:a0469e863c2bf6b5c2d5655c8f4956d65"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a45563d717551a8d18438d2481349536a"><td class="memTemplParams" colspan="2"><a class="anchor" id="a45563d717551a8d18438d2481349536a"></a>
template<typename Derived > </td></tr>
<tr class="memitem:a45563d717551a8d18438d2481349536a"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a45563d717551a8d18438d2481349536a">fromRotationMatrix</a> (const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< Derived > &mat)</td></tr>
<tr class="memdesc:a45563d717551a8d18438d2481349536a"><td class="mdescLeft"> </td><td class="mdescRight">Sets <code>*this</code> from a 3x3 rotation matrix. <br/></td></tr>
<tr class="separator:a45563d717551a8d18438d2481349536a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a68dbca4080079a7376bc8d6cfd8fe098"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a68dbca4080079a7376bc8d6cfd8fe098">inverse</a> () const </td></tr>
<tr class="separator:a68dbca4080079a7376bc8d6cfd8fe098"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a729107ea8555246d34f872febb8b14ce"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#a729107ea8555246d34f872febb8b14ce">isApprox</a> (const <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a> &other, const typename <a class="el" href="structEigen_1_1NumTraits.html">NumTraits</a>< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> >::Real &prec=<a class="el" href="structEigen_1_1NumTraits.html">NumTraits</a>< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> >::dummy_precision()) const </td></tr>
<tr class="separator:a729107ea8555246d34f872febb8b14ce"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a137458fc1a96a26c9fd58d7b2b61336d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a137458fc1a96a26c9fd58d7b2b61336d">matrix</a> () const</td></tr>
<tr class="separator:a137458fc1a96a26c9fd58d7b2b61336d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a39e946f5ec63f80d28cf7988e6ba80b9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Isometry</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a39e946f5ec63f80d28cf7988e6ba80b9">operator*</a> (const <a class="el" href="classEigen_1_1Translation.html">Translation</a>< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim > &t) const</td></tr>
<tr class="separator:a39e946f5ec63f80d28cf7988e6ba80b9"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a84d2f46dbcd54e3a3b8ebcc673ad3920"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a84d2f46dbcd54e3a3b8ebcc673ad3920">operator*</a> (const UniformScaling< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> > &s) const</td></tr>
<tr class="separator:a84d2f46dbcd54e3a3b8ebcc673ad3920"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:acd4f0475d084e54c0dde2ef3f78822c0"><td class="memItemLeft" align="right" valign="top">internal::rotation_base_generic_product_selector<br class="typebreak"/>
< <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>< _Scalar ><br class="typebreak"/>
, OtherDerived, <br class="typebreak"/>
OtherDerived::IsVectorAtCompileTime ><br class="typebreak"/>
::ReturnType </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#acd4f0475d084e54c0dde2ef3f78822c0">operator*</a> (const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>< OtherDerived > &e) const</td></tr>
<tr class="separator:acd4f0475d084e54c0dde2ef3f78822c0"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a4905e372221a7ca6eaf7f11056bc1b7a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, Mode > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a4905e372221a7ca6eaf7f11056bc1b7a">operator*</a> (const <a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, Mode, Options > &t) const</td></tr>
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<tr class="memitem:afbaeb13e13184d381a9e443166fc66b8"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Quaternion.html">QuaternionType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1AngleAxis.html#afbaeb13e13184d381a9e443166fc66b8">operator*</a> (const <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a> &other) const </td></tr>
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<tr class="memitem:a9694b8b0ff05dc4673d64af0e566d9d9"><td class="memTemplParams" colspan="2">template<typename QuatDerived > </td></tr>
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<tr class="memitem:aa472ded3ba078c186ac5cbac1ad4ad14"><td class="memTemplParams" colspan="2">template<typename Derived > </td></tr>
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Friends</h2></td></tr>
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<h2 class="groupheader">Member Typedef Documentation</h2>
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<td class="memname">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a><<a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>,Dim,Dim> <a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a></td>
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<p>corresponding linear transformation matrix type </p>
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<td class="memname">typedef _Scalar <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a></td>
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<p>the scalar type of the coefficients </p>
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<h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<td class="memname"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a> </td>
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<p>Default constructor without initialization. </p>
<p>Referenced by <a class="el" href="classEigen_1_1AngleAxis.html#a68dbca4080079a7376bc8d6cfd8fe098">AngleAxis< Scalar >::inverse()</a>.</p>
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<td class="memname"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a> </td>
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<td class="paramtype">const <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> & </td>
<td class="paramname"><em>angle</em>, </td>
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<p>Constructs and initialize the angle-axis rotation from an <em>angle</em> in radian and an <em>axis</em> which <b>must</b> <b>be</b> <b>normalized</b>.</p>
<dl class="section warning"><dt>Warning</dt><dd>If the <em>axis</em> vector is not normalized, then the angle-axis object represents an invalid rotation. </dd></dl>
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<p>Constructs and initialize the angle-axis rotation from a quaternion <em>q</em>. </p>
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<p>Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. </p>
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<p>Copy constructor with scalar type conversion </p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<td class="memname">internal::cast_return_type<<a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>,<a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a><NewScalarType> >::type cast </td>
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<dl class="section return"><dt>Returns</dt><dd><code>*this</code> with scalar type casted to <em>NewScalarType</em> </dd></dl>
<p>Note that if <em>NewScalarType</em> is equal to the current scalar type of <code>*this</code> then this function smartly returns a const reference to <code>*this</code>. </p>
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<td class="memname"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a> inverse </td>
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<dl class="section return"><dt>Returns</dt><dd>the inverse rotation, i.e., an angle-axis with opposite rotation angle </dd></dl>
<p>References <a class="el" href="classEigen_1_1AngleAxis.html#a38772216b8d784ddbe99d2d3df961f32">AngleAxis< Scalar >::AngleAxis()</a>.</p>
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<td class="memname">bool isApprox </td>
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<td class="paramtype">const <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> > & </td>
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<td class="paramtype">const typename <a class="el" href="structEigen_1_1NumTraits.html">NumTraits</a>< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> >::Real & </td>
<td class="paramname"><em>prec</em> = <code><a class="el" href="structEigen_1_1NumTraits.html">NumTraits</a><<a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>>::dummy_precision()</code> </td>
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<dl class="section return"><dt>Returns</dt><dd><code>true</code> if <code>*this</code> is approximately equal to <em>other</em>, within the precision determined by <em>prec</em>.</dd></dl>
<dl class="section see"><dt>See Also</dt><dd><a class="el" href="classEigen_1_1DenseBase.html#a158c2184951e6e415c2e9b98db8e8966">MatrixBase::isApprox()</a> </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> matrix </td>
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<dl class="section return"><dt>Returns</dt><dd>an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme. </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a><<a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>,Dim,<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Isometry</a>> operator* </td>
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<dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a translation <em>t</em> </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> operator* </td>
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<dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a uniform scaling <em>s</em> </dd></dl>
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<td class="memname">internal::rotation_base_generic_product_selector<<a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>< _Scalar > ,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType operator* </td>
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<dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a generic expression <em>e</em> <em>e</em> can be:<ul>
<li>a DimxDim linear transformation matrix</li>
<li>a DimxDim diagonal matrix (axis aligned scaling)</li>
<li>a vector of size Dim </li>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a><<a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>,Dim,Mode> operator* </td>
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<dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a transformation <em>t</em> </dd></dl>
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<p>Concatenates two rotations </p>
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<td class="memname"><a class="el" href="classEigen_1_1Quaternion.html">QuaternionType</a> operator* </td>
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<p>Concatenates two rotations </p>
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<td class="memname"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a><<a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>>& operator= </td>
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<p>Set <code>*this</code> from a <b>unit</b> quaternion. The axis is normalized.</p>
<dl class="section warning"><dt>Warning</dt><dd>As any other method dealing with quaternion, if the input quaternion is not normalized then the result is undefined. </dd></dl>
<p>References <a class="el" href="classEigen_1_1QuaternionBase.html#a154f40d7fec7be85112f7e7c12e4900b">QuaternionBase< Derived >::vec()</a>, and <a class="el" href="classEigen_1_1QuaternionBase.html#ae11dcbf26de9bc8c2afddf9a8b5c32a9">QuaternionBase< Derived >::w()</a>.</p>
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<td class="memname"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a><<a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>>& operator= </td>
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<td class="paramtype">const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< Derived > & </td>
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<p>Set <code>*this</code> from a 3x3 rotation matrix <em>mat</em>. </p>
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<td class="memname"><a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> >::<a class="el" href="classEigen_1_1Matrix.html">Matrix3</a> toRotationMatrix </td>
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<p>Constructs and </p>
<dl class="section return"><dt>Returns</dt><dd>an equivalent 3x3 rotation matrix. </dd></dl>
<p>References <a class="el" href="classEigen_1_1MatrixBase.html#a0a45dd0ed5a44ec3f8f43239f2e4ac25">MatrixBase< Derived >::diagonal()</a>.</p>
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<h2 class="groupheader">Friends And Related Function Documentation</h2>
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<td class="memname"><a class="el" href="classEigen_1_1Quaternion.html">QuaternionType</a> operator* </td>
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<td class="paramtype">const <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>< <a class="el" href="classEigen_1_1AngleAxis.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> > & </td>
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<span class="mlabels"><span class="mlabel">friend</span></span> </td>
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<p>Concatenates two rotations </p>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="ForwardDeclarations_8h_source.html">ForwardDeclarations.h</a></li>
<li><a class="el" href="AngleAxis_8h_source.html">AngleAxis.h</a></li>
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