3D Rotation Calculator More...

#include <rotmat.h>

Public Member Functions
	RotMat ()
	Build an identity rotation matrix.

	RotMat (double rx, double ry, double rz)
	Build rotation matrix in order Z, Y, X (yaw, pitch, roll)

void	x_rotation (double angle)
	Rotation by X (roll) axis.

void	y_rotation (double angle)
	Rotation by Y (pitch) axis.

void	z_rotation (double angle)
	Rotation by Z (yaw) axis.

void	rotate (double &x, double &y, double &z) const
	Rotate a 3D point.

void	rotate (double *vec) const
	Rotate a vector containing the x, y, z coordinates.

double(&	matrix ())[3]
	Return reference to rotation matrix (3x3)

Detailed Description

3D Rotation Calculator

Constructor & Destructor Documentation

Build rotation matrix in order Z, Y, X (yaw, pitch, roll)

Create a rotation matrix with specified rotation angles.

Parameters

rx	rotation around X-axis (radians)
ry	rotation around Y-axis (radians)
rz	rotation around Z-axis (radians)

Rotations are applied in the order z, y, x (Tait-Bryant convention).

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