amino  1.0-beta2
Lightweight Robot Utility Library
amino::AxisAngle Struct Reference

An axis-angle object. More...

#include <tf.hpp>

Inheritance diagram for amino::AxisAngle:
aa_tf_axang

Public Member Functions

 AxisAngle ()
 Construct an idenity axis-angle.
 
 AxisAngle (const aa_tf_quat *p)
 Construct an axis-angle from a unit quaternion.
 
 AxisAngle (const aa_tf_quat &p)
 Construct an axis-angle from a unit quaternion.
 
 AxisAngle (const aa_tf_rotmat *p)
 Construct an axis-angle from a rotation matrix.
 
 AxisAngle (const aa_tf_rotmat &p)
 Construct an axis-angle from a rotation matrix.
 
 AxisAngle (const aa_tf_axang *p)
 Construct an axis-angle from another axis-angle.
 
 AxisAngle (const aa_tf_axang &p)
 Construct an axis-angle from another axis-angle.
 
 AxisAngle (double x, double y, double z, double theta)
 Construct an axis-angle from individual components.
 
 AxisAngle (const double *_axis, double _angle)
 Construct an axis-angle from an axis array and an angle.
 

Static Public Member Functions

static aa_tf_axang from_quat (const double x[4])
 Create an axis angle from a unit quaternion.
 
static aa_tf_axang from_rotmat (const double x[9])
 Create an axis angle from a rotation matrix.
 
static aa_tf_axang from_axang (double x, double y, double z, double theta)
 Create an axis angle from individual components.
 
static aa_tf_axang from_axang (const double x[4])
 Create an axis angle from an axis angle array.
 
static aa_tf_axang from_axang (const double axis[3], double angle)
 Create an axis angle from an axis array and an angle.
 
static aa_tf_axang from_rotvec (const double x[3])
 Create an axis angle from a rotation vector.
 

Additional Inherited Members

- Public Attributes inherited from aa_tf_axang
union {
   struct {
      union {
         struct aa_tf_vec3   axis
 
         double   v [3]
 
      } 
 
      double   angle
 
   } 
 
   double   data [4]
 
}; 
 

Detailed Description

An axis-angle object.

Definition at line 467 of file tf.hpp.


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