#include <Rotation.h>

Public Types
enum	EulerSequence { Invalid , EulerAngles , YawPitchRoll , Extrinsic_XYZ , Extrinsic_XZY , Extrinsic_YZX , Extrinsic_YXZ , Extrinsic_ZXY , Extrinsic_ZYX , Intrinsic_XYZ , Intrinsic_XZY , Intrinsic_YZX , Intrinsic_YXZ , Intrinsic_ZXY , Intrinsic_ZYX , Extrinsic_XYX , Extrinsic_XZX , Extrinsic_YZY , Extrinsic_YXY , Extrinsic_ZYZ , Extrinsic_ZXZ , Intrinsic_XYX , Intrinsic_XZX , Intrinsic_YZY , Intrinsic_YXY , Intrinsic_ZXZ , Intrinsic_ZYZ , EulerSequenceLast }

Public Member Functions
void	getEulerAngles (EulerSequence seq, double &alpha, double &beta, double &gamma) const

void	getRawValue (Vector3d &axis, double &rfAngle) const
	Does the same as the method above unless normalizing the axis. More...

const double *	getValue () const
	Methods to get or set rotations. 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...

void	getYawPitchRoll (double &y, double &p, double &r) const
	Euler angles in yaw,pitch,roll notation. More...

Rotation	inverse () const

Rotation &	invert ()
	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	setEulerAngles (EulerSequence seq, double alpha, double beta, double gamma)

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 EulerSequence	eulerSequenceFromName (const char *name)

static const char *	eulerSequenceName (EulerSequence seq)

static Rotation	identity ()

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...

Member Enumeration Documentation

◆ EulerSequence

enum Base::Rotation::EulerSequence

Enumerator
Invalid
EulerAngles	Classic Euler angles, alias to Intrinsic_ZXZ.
YawPitchRoll	Yaw Pitch Roll (or nautical) angles, alias to Intrinsic_ZYX.
Extrinsic_XYZ
Extrinsic_XZY
Extrinsic_YZX
Extrinsic_YXZ
Extrinsic_ZXY
Extrinsic_ZYX
Intrinsic_XYZ
Intrinsic_XZY
Intrinsic_YZX
Intrinsic_YXZ
Intrinsic_ZXY
Intrinsic_ZYX
Extrinsic_XYX
Extrinsic_XZX
Extrinsic_YZY
Extrinsic_YXY
Extrinsic_ZYZ
Extrinsic_ZXZ
Intrinsic_XYX
Intrinsic_XZX
Intrinsic_YZY
Intrinsic_YXY
Intrinsic_ZXZ
Intrinsic_ZYZ
EulerSequenceLast

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

◆ eulerSequenceFromName()

Rotation::EulerSequence Rotation::eulerSequenceFromName ( const char * name )

static

References Invalid.

◆ eulerSequenceName()

const char * Rotation::eulerSequenceName ( EulerSequence seq )

static

References EulerSequenceLast, and Invalid.

◆ getEulerAngles()

void Rotation::getEulerAngles	(	EulerSequence	seq,
		double &	alpha,
		double &	beta,
		double &	gamma
	)		const

References getValue().

◆ 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.

◆ getValue() [1/4]

const double * Rotation::getValue ( ) const

Methods to get or set rotations.

Referenced by Data::ComplexGeoData::applyRotation(), Import::ExportOCAF::createNode(), Part::Tools::fromPlacement(), getEulerAngles(), Part::Feature::getLocation(), Part::FeatureReference::getLocation(), operator*=(), Path::Toolpath::recalculate(), Part::Geometry::rotate(), Import::ExportOCAF::saveShape(), scaleAngle(), Gui::PropertyEditor::RotationHelper::setAxis(), Gui::View3DInventorPy::setCameraOrientation(), Part::TopoShape::setShapePlacement(), Gui::ViewProviderInventorObject::updateData(), Gui::ViewProviderVRMLObject::updateData(), Gui::ViewProviderDragger::updateTransform(), and Gui::View3DInventorPy::viewPosition().

◆ getValue() [2/4]

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

◆ getValue() [3/4]

void Rotation::getValue ( Matrix4D & matrix ) const

Returns this rotation in form of a matrix.

◆ getValue() [4/4]

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.

◆ getYawPitchRoll()

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

Euler angles in yaw,pitch,roll notation.

Referenced by PartGui::TaskDlgAttacher::accept(), Path::Command::setFromPlacement(), Path::Command::transform(), and RobotGui::TaskTrajectoryDressUpParameter::viewPlacement().

◆ identity()

Rotation Rotation::identity ( )

static

References Rotation().

◆ inverse()

Rotation Rotation::inverse ( ) const

◆ invert()

Rotation & Rotation::invert ( )

Invert rotations.

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

◆ isIdentity()

bool Rotation::isIdentity ( ) const

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

◆ isNull()

bool Rotation::isNull ( ) const

◆ isSame() [1/2]

bool Rotation::isSame ( const Rotation & q ) const

◆ 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().

◆ 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(), PartDesign::Line::getDirection(), PartDesign::Plane::getNormal(), PartDesign::ProfileBased::getProfileNormal(), PartDesign::ProfileBased::getReversedAngle(), PartDesign::LinearPattern::getTransformations(), PartDesign::Mirrored::getTransformations(), PartDesign::PolarPattern::getTransformations(), PartDesign::CoordinateSystem::getXAxis(), PartDesign::CoordinateSystem::getYAxis(), PartDesign::CoordinateSystem::getZAxis(), Sketcher::SketchObject::isCarbonCopyAllowed(), PartDesign::Feature::makePlnFromPlane(), multVec(), Attacher::AttachEngine::placementFactory(), Attacher::AttachEngine::readLinks(), Sketcher::SketchObject::rebuildExternalGeometry(), TechDraw::DrawViewSection::sectionLineEnds(), 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().

◆ setEulerAngles()

void Rotation::setEulerAngles	(	EulerSequence	seq,
		double	alpha,
		double	beta,
		double	gamma
	)

References EulerSequenceLast, and Invalid.

◆ setValue() [1/5]

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

Referenced by operator*=(), Rotation(), scaleAngle(), Gui::PropertyEditor::RotationHelper::setAngle(), Gui::PropertyEditor::RotationHelper::setAxis(), App::PropertyRotation::setPyObject(), 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(), draftfunctions.scale::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(), 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().

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

FreeCAD/src/Base/Rotation.h
FreeCAD/src/Base/Rotation.cpp

Public Types

Public Member Functions

Static Public Member Functions

Member Enumeration Documentation

◆ EulerSequence

Constructor & Destructor Documentation

◆ Rotation() [1/7]

◆ Rotation() [2/7]

◆ Rotation() [3/7]

◆ Rotation() [4/7]

◆ Rotation() [5/7]

◆ Rotation() [6/7]

◆ Rotation() [7/7]

Member Function Documentation

◆ eulerSequenceFromName()

◆ eulerSequenceName()

◆ getEulerAngles()

◆ getRawValue()

◆ getValue() [1/4]

◆ getValue() [2/4]

◆ getValue() [3/4]

◆ getValue() [4/4]

◆ getYawPitchRoll()

◆ identity()

◆ inverse()

◆ invert()

◆ isIdentity()

◆ isNull()

◆ isSame() [1/2]

◆ isSame() [2/2]

◆ makeRotationByAxes()

◆ multVec() [1/2]

◆ multVec() [2/2]

◆ operator!=()

◆ operator*()

◆ operator*=()

◆ operator=()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ scaleAngle()

◆ setEulerAngles()

◆ setValue() [1/5]

◆ setValue() [2/5]

◆ setValue() [3/5]

◆ setValue() [4/5]

◆ setValue() [5/5]

◆ setYawPitchRoll()

◆ slerp()