Base::Rotation Class Reference

#include <Rotation.h>

Public Member Functions
void	getRawValue (Vector3d &axis, double &rfAngle) const
	Does the same as the method above unless normalizing the axis. More...
void	getValue (double &q0, double &q1, double &q2, double &q3) const
void	getValue (Matrix4D &matrix) const
	Returns this rotation in form of a matrix. More...
void	getValue (Vector3d &axis, double &rfAngle) const
	If not a null quaternion then axis will be normalized. More...
const double *	getValue (void) const
	Methods to get or set rotations. More...
void	getYawPitchRoll (double &y, double &p, double &r) const
	Euler angles in yaw,pitch,roll notation. More...
Rotation	inverse (void) const
Rotation &	invert (void)
	Invert rotations. More...
bool	isIdentity () const
bool	isNull () const
bool	isSame (const Rotation &) const
bool	isSame (const Rotation &, double tol) const
Vector3d	multVec (const Vector3d &src) const
void	multVec (const Vector3d &src, Vector3d &dst) const
bool	operator!= (const Rotation &q) const
Rotation	operator* (const Rotation &q) const
Rotation &	operator*= (const Rotation &q)
	Operators. More...
void	operator= (const Rotation &)
bool	operator== (const Rotation &q) const
double &	operator[] (unsigned short usIndex)
const double &	operator[] (unsigned short usIndex) const
	Rotation ()
	Construction. More...
	Rotation (const double q0, const double q1, const double q2, const double q3)
	Construct a rotation initialized with the given quaternion components: q0 = x, q1 = y, q2 = z and q3 = w, where the quaternion is specified by q=w+xi+yj+zk. More...
	Rotation (const double q[4])
	Construct a rotation initialized with the given quaternion components: q[0] = x, q[1] = y, q[2] = z and q[3] = w, where the quaternion is specified by q=w+xi+yj+zk. More...
	Rotation (const Matrix4D &matrix)
	Rotation (const Rotation &rot)
	Rotation (const Vector3d &axis, const double fAngle)
	Construct a rotation by rotation axis and angle. More...
	Rotation (const Vector3d &rotateFrom, const Vector3d &rotateTo)
void	scaleAngle (const double scaleFactor)
void	setValue (const double q0, const double q1, const double q2, const double q3)
void	setValue (const double q[4])
void	setValue (const Matrix4D &matrix)
void	setValue (const Vector3d &axis, const double fAngle)
void	setValue (const Vector3d &rotateFrom, const Vector3d &rotateTo)
void	setYawPitchRoll (double y, double p, double r)
	Euler angles in yaw,pitch,roll notation. More...

Static Public Member Functions
static Rotation	identity (void)
static Rotation	makeRotationByAxes (Vector3d xdir, Vector3d ydir, Vector3d zdir, const char *priorityOrder="ZXY")
	makeRotationByAxes(xdir, ydir, zdir, priorityOrder): creates a rotation that converts a vector in local cs with axes given as arguments, into a vector in global cs. More...
static Rotation	slerp (const Rotation &rot0, const Rotation &rot1, double t)
	Specialty constructors. More...

Constructor & Destructor Documentation

Rotation() [1/7]

Rotation::Rotation

(

)

Construction.

Referenced by identity(), makeRotationByAxes(), and slerp().

Rotation() [2/7]

Rotation::Rotation	(	const Vector3d &	axis,
		const double	fAngle
	)

Construct a rotation by rotation axis and angle.

References setValue().

Rotation() [3/7]

Rotation::Rotation

(

const Matrix4D &

matrix

)

References setValue().

Rotation() [4/7]

Rotation::Rotation

(

const double

q[4]

)

Construct a rotation initialized with the given quaternion components: q[0] = x, q[1] = y, q[2] = z and q[3] = w, where the quaternion is specified by q=w+xi+yj+zk.

References setValue().

Rotation() [5/7]

Rotation::Rotation	(	const double	q0,
		const double	q1,
		const double	q2,
		const double	q3
	)

Construct a rotation initialized with the given quaternion components: q0 = x, q1 = y, q2 = z and q3 = w, where the quaternion is specified by q=w+xi+yj+zk.

References setValue().

Rotation() [6/7]

Rotation::Rotation	(	const Vector3d &	rotateFrom,
		const Vector3d &	rotateTo
	)

References setValue().

Rotation() [7/7]

Rotation::Rotation

(

const Rotation &

rot

)

Member Function Documentation

getRawValue()

void Rotation::getRawValue	(	Vector3d &	axis,
		double &	rfAngle
	)		const

Does the same as the method above unless normalizing the axis.

References Base::Vector3< _Precision >::x, Base::Vector3< _Precision >::y, and Base::Vector3< _Precision >::z.

Referenced by Base::RotationPy::setAngle().

getValue() [1/4]

void Rotation::getValue	(	double &	q0,
		double &	q1,
		double &	q2,
		double &	q3
	)		const

getValue() [2/4]

void Rotation::getValue

(

Matrix4D &

matrix

)

const

Returns this rotation in form of a matrix.

getValue() [3/4]

void Rotation::getValue	(	Vector3d &	axis,
		double &	rfAngle
	)		const

If not a null quaternion then axis will be normalized.

References Base::Vector3< _Precision >::Normalize(), Base::Vector3< _Precision >::x, Base::Vector3< _Precision >::y, and Base::Vector3< _Precision >::z.

getValue() [4/4]

const double * Rotation::getValue

(

void

)

const

Methods to get or set rotations.

Referenced by Data::ComplexGeoData::applyRotation(), Import::ExportOCAF::createNode(), Robot::TrajectoryDressUpObject::execute(), Base::RotationPy::getAngle(), Base::RotationPy::getAxis(), Base::RotationPy::getCustomAttributes(), Part::Feature::getLocation(), Part::FeatureReference::getLocation(), Base::RotationPy::getQ(), operator*=(), Base::RotationPy::PyInit(), Path::Toolpath::recalculate(), Base::RotationPy::representation(), Part::GeometryPy::rotate(), Import::ExportOCAF::saveShape(), scaleAngle(), Base::RotationPy::setAxis(), Gui::View3DInventorPy::setCameraOrientation(), Part::TopoShape::setPlacement(), Gui::ViewProviderVRMLObject::updateData(), Gui::ViewProviderInventorObject::updateData(), Gui::ViewProviderDragger::updateTransform(), and Gui::View3DInventorPy::viewPosition().

getYawPitchRoll()

void Rotation::getYawPitchRoll	(	double &	y,
		double &	p,
		double &	r
	)		const

Euler angles in yaw,pitch,roll notation.

Referenced by PartGui::TaskDlgAttacher::accept(), Base::RotationPy::getCustomAttributes(), Base::PlacementPy::representation(), Base::RotationPy::setCustomAttributes(), Path::Command::setFromPlacement(), Base::RotationPy::toEuler(), Path::Command::transform(), and RobotGui::TaskTrajectoryDressUpParameter::viewPlacement().

identity()

Rotation Rotation::identity ( void  )

static

References Rotation().

inverse()

Rotation Rotation::inverse

(

void

)

const

Referenced by Base::RotationPy::inverted().

invert()

Rotation & Rotation::invert

(

void

)

Invert rotations.

Referenced by PathScripts.PathDressupLeadInOut.ObjectDressup::getLeadEnd(), PathScripts.PathDressupLeadInOut.ObjectDressup::getLeadStart(), and Base::RotationPy::invert().

isIdentity()

bool Rotation::isIdentity

(

)

const

Referenced by ArchComponent.Component::applyShape(), ArchComponent.Component::getExtrusionData(), Base::RotationPy::isIdentity(), ArchComponent.Component::processSubShapes(), Points::PlyWriter::write(), and Points::PcdWriter::write().

isNull()

bool Rotation::isNull

(

)

const

Referenced by Base::RotationPy::isNull().

isSame() [1/2]

bool Rotation::isSame

(

const Rotation &

q

)

const

Referenced by Base::RotationPy::isSame().

isSame() [2/2]

bool Rotation::isSame	(	const Rotation &	q,
		double	tol
	)		const

makeRotationByAxes()

Rotation Rotation::makeRotationByAxes ( Vector3d  xdir, Vector3d  ydir, Vector3d  zdir, const char *  priorityOrder = "ZXY"  )

static

makeRotationByAxes(xdir, ydir, zdir, priorityOrder): creates a rotation that converts a vector in local cs with axes given as arguments, into a vector in global cs.

Parameters

xdir	is wanted direction of local X axis
ydir	...
zdir
priorityOrder	sets which directions are followed. It is a string like "ZXY". This means, Z direction is followed precisely; X direction is corrected to be perpendicular to Z direction, and used; Y direction argument is ignored altogether (Y direction is generated from Z and X).

If only one vector provided is nonzero, the other two directions are picked automatically.

References Base::Vector3< _Precision >::Cross(), Base::Vector3< _Precision >::Length(), Base::Vector3< _Precision >::Normalize(), Rotation(), Base::Matrix4D::setToUnity(), Base::Vector3< _Precision >::x, Base::Vector3< _Precision >::y, and Base::Vector3< _Precision >::z.

Referenced by Attacher::AttachEngine3D::calculateAttachedPlacement(), and Base::RotationPy::PyInit().

multVec() [1/2]

Vector3d Rotation::multVec

(

const Vector3d &

src

)

const

References multVec().

multVec() [2/2]

void Rotation::multVec	(	const Vector3d &	src,
		Vector3d &	dst
	)		const

Referenced by ReenGui::FitBSplineSurfaceWidget::accept(), Attacher::AttachEngine3D::calculateAttachedPlacement(), Part::Extrusion::calculateShapeNormal(), Path::compensateRotation(), Base::CoordinateSystem::displacement(), PartDesignGui::fixSketchSupport(), PartDesign::ProfileBased::getAxis(), SketcherGui::ViewProviderSketch::getCoordsOnSketchPlane(), PartDesign::Line::getDirection(), PartDesign::Plane::getNormal(), PartDesign::ProfileBased::getProfileNormal(), PartDesign::ProfileBased::getReversedAngle(), PartDesign::Mirrored::getTransformations(), PartDesign::LinearPattern::getTransformations(), PartDesign::PolarPattern::getTransformations(), PartDesign::CoordinateSystem::getXAxis(), PartDesign::CoordinateSystem::getYAxis(), PartDesign::CoordinateSystem::getZAxis(), Sketcher::SketchObject::isCarbonCopyAllowed(), Base::RotationPy::multVec(), multVec(), Attacher::AttachEngine::placementFactory(), Attacher::AttachEngine::readLinks(), SketcherGui::ViewProviderSketch::rebuildConstraintsVisual(), Sketcher::SketchObject::rebuildExternalGeometry(), Gui::View3DInventorViewer::toggleClippingPlane(), Gui::ManualAlignment::Private::transformation2x2(), Gui::ManualAlignment::Private::transformation3x3(), Path::PathSegmentWalker::walk(), Points::PlyWriter::write(), and Points::PcdWriter::write().

operator!=()

bool Rotation::operator!=

(

const Rotation &

q

)

const

operator*()

Rotation Rotation::operator*

(

const Rotation &

q

)

const

operator*=()

Rotation & Rotation::operator*=

(

const Rotation &

q

)

Operators.

References getValue(), and setValue().

operator=()

void Rotation::operator=

(

const Rotation &

rot

)

operator==()

bool Rotation::operator==

(

const Rotation &

q

)

const

operator[]() [1/2]

double& Base::Rotation::operator[]

(

unsigned short

usIndex

)

operator[]() [2/2]

const double& Base::Rotation::operator[]

(

unsigned short

usIndex

)

const

scaleAngle()

void Rotation::scaleAngle

(

const double

scaleFactor

)

References getValue(), and setValue().

setValue() [1/5]

void Rotation::setValue	(	const double	q0,
		const double	q1,
		const double	q2,
		const double	q3
	)

Referenced by operator*=(), Base::RotationPy::PyInit(), Rotation(), scaleAngle(), Base::RotationPy::setAngle(), Base::RotationPy::setAxis(), Base::RotationPy::setCustomAttributes(), Base::RotationPy::setQ(), setValue(), and setYawPitchRoll().

setValue() [2/5]

void Rotation::setValue

(

const double

q[4]

)

setValue() [3/5]

void Rotation::setValue

(

const Matrix4D &

matrix

)

setValue() [4/5]

void Rotation::setValue	(	const Vector3d &	axis,
		const double	fAngle
	)

References Base::Vector3< _Precision >::Length(), Base::Vector3< _Precision >::Normalize(), DraftVecUtils::scale(), Base::Vector3< _Precision >::x, Base::Vector3< _Precision >::y, and Base::Vector3< _Precision >::z.

setValue() [5/5]

void Rotation::setValue	(	const Vector3d &	rotateFrom,
		const Vector3d &	rotateTo
	)

References Base::Vector3< double >::epsilon(), Base::Vector3< _Precision >::Length(), Base::Vector3< _Precision >::Normalize(), setValue(), and Base::Vector3< _Precision >::x.

setYawPitchRoll()

void Rotation::setYawPitchRoll	(	double	y,
		double	p,
		double	r
	)

Euler angles in yaw,pitch,roll notation.

References setValue().

Referenced by Path::Command::getPlacement(), Base::RotationPy::PyInit(), Base::RotationPy::setCustomAttributes(), and Path::yawPitchRoll().

slerp()

Rotation Rotation::slerp ( const Rotation &  rot0, const Rotation &  rot1, double  t  )

static

Specialty constructors.

References Base::Vector3< double >::epsilon(), DraftVecUtils::neg(), and Rotation().

Referenced by Base::Placement::slerp().

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

• src/Base/Rotation.h
• src/Base/Rotation.cpp