SbRotationd Class Reference
[Basics]

VSG extension Class for representing a rotation (double precision). More...

#include <Inventor/SbRotation.h>

List of all members.

Public Member Functions

 SbRotationd ()
 SbRotationd (const double v[4])
 SbRotationd (double q0, double q1, double q2, double q3)
 SbRotationd (const SbMatrixd &m)
 SbRotationd (const SbMatrix3 &m)
 SbRotationd (const SbVec3d &axis, double radians)
 SbRotationd (const SbVec3d &rotateFrom, const SbVec3d &rotateTo)
const double * getValue () const
void getValue (double &q0, double &q1, double &q2, double &q3) const
void getValue (SbVec3d &axis, double &radians) const
void getValue (SbMatrixd &matrix) const
void getValue (SbMatrix &matrix) const
void getValue (SbMatrix3 &matrix) const
SbRotationdinvert ()
SbRotationd inverse () const
SbRotationdsetValue (const double q[4])
SbRotationdsetValue (double q0, double q1, double q2, double q3)
SbRotationdsetValue (const SbMatrixd &m)
SbRotationdsetValue (const SbVec3d &axis, double radians)
SbRotationdsetValue (const SbVec3d &rotateFrom, const SbVec3d &rotateTo)
SbRotationdsetValue (const SbRotation &rotate)
SbRotationdsetValue (const SbMatrix &m)
SbRotationdsetValue (const SbMatrix3 &m)
SbRotationdoperator*= (const SbRotationd &q)
SbBool equals (const SbRotationd &r, double tolerance) const
void multVec (const SbVec3d &src, SbVec3d &dst) const
void scaleAngle (double scaleFactor)

Static Public Member Functions

static SbRotationd slerp (const SbRotationd &rot0, const SbRotationd &rot1, double t)
static SbRotationd identity ()

Friends

int operator== (const SbRotationd &q1, const SbRotationd &q2)
int operator!= (const SbRotationd &q1, const SbRotationd &q2)
SbRotationd operator* (const SbRotationd &q1, const SbRotationd &q2)

Detailed Description

VSG extension Class for representing a rotation (double precision).

Object that stores a rotation using double precision values. Although Open Inventor fields still store only single precision values, for certain applications it is useful and convenient to be able to store and manipulate double precision values, for example, double precision coordinate data or values that will be used for further computation.

The rotation value is stored internally as a quaternion. Quaternion representation is more compact, faster to compute and more numerically stable than rotation matrices. Quaternion representation allows smooth rotation (spherical linear interpolation) and avoids the problem of "gimbal lock" associated with Euler angles. It is not necessary to deal directly with quaternions. Many convenience methods are provided to set and get rotations using matrix and axis/angle representations.

Rotations are most commonly specified using an axis and an angle in radians. A common mistake is to use the constructor or setValue method that takes four double values, when intending to set an axis and angle. The methods that take four double values directly specify the quaternion value, which is probably not the intended result. For example:

     // Create a rotation of PI/2 radians around the Z axis:

     // Incorrect.
     // (Compiles, but actually sets the quaternion value directly!)
     SbRotationd rotation(0, 0, 1, 1.5707963);

     // This is the correct rotation.
     SbRotationd rotation( SbVec3d(0, 0, 1), 1.5707963);

SEE ALSO

SbRotation, SbVec2d, SbVec2f, SbVec2i32, SbVec2s, SbVec3d, SbVec3f, SbVec3i32, SbVec3s, SbVec4b, SbVec4d, SbVec4f, SbVec4i32, SbVec4s, SbVec4ub, SbVec4ui32, SbVec4us


Constructor & Destructor Documentation

SbRotationd::SbRotationd (  )  [inline]

Constructor for rotation.

The initial value is no rotation.

SbRotationd::SbRotationd ( const double  v[4]  )  [inline]

Constructor.

The constructors that take four doubles create a quaternion from those doubles (careful, this differs from the four numbers in an axis/radian definition).

SbRotationd::SbRotationd ( double  q0,
double  q1,
double  q2,
double  q3 
) [inline]

Constructor.

The constructors that take four doubles create a quaternion from those doubles (careful, this differs from the four numbers in an axis/radian definition).

SbRotationd::SbRotationd ( const SbMatrixd m  )  [inline]

Constructor.

The matrix constructor requires a valid rotation matrix.

SbRotationd::SbRotationd ( const SbMatrix3 m  )  [inline]

Constructor.

The matrix constructor requires a valid 3x3 rotation matrix.

SbRotationd::SbRotationd ( const SbVec3d axis,
double  radians 
) [inline]

Constructor.

The axis/radians constructor creates a rotation of angle radians about the given axis.

SbRotationd::SbRotationd ( const SbVec3d rotateFrom,
const SbVec3d rotateTo 
) [inline]

Constructor.

The rotateFrom/To constructor defines rotation that rotates from one vector into another. The rotateFrom and rotateTo vectors are normalized by the constructor before calculating the rotation.


Member Function Documentation

SbBool SbRotationd::equals ( const SbRotationd r,
double  tolerance 
) const

Equality comparison within given tolerance - the square of the length of the maximum distance between the two quaternion vectors.

void SbRotationd::getValue ( SbMatrix3 matrix  )  const

Returns corresponding 3x3 rotation matrix.

void SbRotationd::getValue ( SbMatrix matrix  )  const

Returns corresponding 4x4 rotation matrix.

void SbRotationd::getValue ( SbMatrixd matrix  )  const

Returns corresponding 4x4 rotation matrix.

void SbRotationd::getValue ( SbVec3d axis,
double &  radians 
) const

Returns corresponding 3D rotation axis vector and angle in radians.

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

Returns 4 individual components of rotation quaternion.

const double* SbRotationd::getValue (  )  const [inline]

Returns pointer to array of 4 components defining quaternion.

static SbRotationd SbRotationd::identity (  )  [inline, static]

Returns a null rotation.

SbRotationd SbRotationd::inverse (  )  const [inline]

Returns the inverse of a rotation.

SbRotationd& SbRotationd::invert (  ) 

Changes a rotation to be its inverse.

void SbRotationd::multVec ( const SbVec3d src,
SbVec3d dst 
) const

Multiplies the given vector by the matrix of this rotation.

SbRotationd& SbRotationd::operator*= ( const SbRotationd q  ) 

Multiplies by another rotation; results in product of rotations.

void SbRotationd::scaleAngle ( double  scaleFactor  ) 

Keep the axis the same.

Multiply the angle of rotation by the amount scaleFactor.

SbRotationd& SbRotationd::setValue ( const SbMatrix3 m  ) 

Sets rotation from a 3x3 rotation matrix.

SbRotationd& SbRotationd::setValue ( const SbMatrix m  ) 

Sets rotation from a single precision rotation matrix.

SbRotationd& SbRotationd::setValue ( const SbRotation rotate  ) 

Sets rotation from a single precision rotation.

SbRotationd& SbRotationd::setValue ( const SbVec3d rotateFrom,
const SbVec3d rotateTo 
)

Sets rotation to rotate one direction vector to another.

The rotateFrom and rotateTo arguments are normalized before the rotation is calculated.

SbRotationd& SbRotationd::setValue ( const SbVec3d axis,
double  radians 
)

Sets value of vector from 3D rotation axis vector and angle in radians.

SbRotationd& SbRotationd::setValue ( const SbMatrixd m  ) 

Sets value of rotation from a rotation matrix.

SbRotationd& SbRotationd::setValue ( double  q0,
double  q1,
double  q2,
double  q3 
)

Sets value of rotation from 4 individual components of a quaternion.

SbRotationd& SbRotationd::setValue ( const double  q[4]  ) 

Sets value of rotation from array of 4 components of a quaternion.

static SbRotationd SbRotationd::slerp ( const SbRotationd rot0,
const SbRotationd rot1,
double  t 
) [static]

Spherical linear interpolation: as t goes from 0 to 1, returned value goes from rot0 to rot1.


Friends And Related Function Documentation

int operator!= ( const SbRotationd q1,
const SbRotationd q2 
) [friend]

Inequality comparison operator.

SbRotationd operator* ( const SbRotationd q1,
const SbRotationd q2 
) [friend]

Multiplication of two rotations; results in product of rotations.

int operator== ( const SbRotationd q1,
const SbRotationd q2 
) [friend]

Equality comparison operator.


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

Open Inventor Toolkit reference manual, generated on 8 Apr 2021
Copyright © Thermo Fisher Scientific All rights reserved.
http://www.openinventor.com/