Class representing a rotation for the positional tracking module. More...

Functions
	Rotation ()
	Default constructor. More...

	Rotation (const Rotation &rotation)
	Copy constructor (deep copy). More...

	Rotation (const Matrix3f &mat)
	sl::Rotation constructor from an sl::Matrix3f. More...

	Rotation (const Orientation &orientation)
	sl::Rotation constructor from an sl::Orientation. More...

	Rotation (const float angle, const Translation &axis)
	sl::Rotation constructor from an angle and an axis. More...

void	setOrientation (const Orientation &orientation)
	Sets the sl::Rotation from an sl::Orientation. More...

Orientation	getOrientation () const
	Returns the sl::Orientation corresponding to the current sl::Rotation. More...

float3	getRotationVector ()
	Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula. More...

void	setRotationVector (const float3 &vec_rot)
	Sets the sl::Rotation from a rotation vector (using Rodrigues' transformation). More...

float3	getEulerAngles (bool radian=true) const
	Converts the sl::Rotation into Euler angles. More...

void	setEulerAngles (const float3 &euler_angles, bool radian=true)
	Sets the sl::Rotation from Euler angles. More...

Matrix3f	operator* (const Matrix3f &mat) const
	Gives the result of the multiplication between two sl::Matrix3f. More...

Matrix3f	operator* (const float &scalar) const
	Gives the result of the multiplication between a sl::Matrix3f and a scalar. More...

Matrix3f	operator+ (const Matrix3f &mat) const
	Gives the result of the addition between two sl::Matrix3f. More...

Matrix3f	operator+ (const float &scalar) const
	Gives the result of the addition between a sl::Matrix3f and a scalar. More...

Matrix3f	operator- (const Matrix3f &mat) const
	Gives the result of the subtraction between two sl::Matrix3f. More...

Matrix3f	operator- (const float &scalar) const
	Gives the result of the subtraction between a sl::Matrix3f and a scalar. More...

bool	operator== (const Matrix3f &mat) const
	Test two sl::Matrix3f equality. More...

bool	operator!= (const Matrix3f &mat) const
	Test two sl::Matrix3f inequality. More...

float &	operator() (int u, int v)
	Gets access to a specific point in the sl::Matrix3f (read/write). More...

void	inverse ()
	Sets the sl::Matrix3f to its inverse. More...

void	transpose ()
	Sets the sl::Matrix3f to its transpose. More...

void	setIdentity ()
	Sets the sl::Matrix3f to identity. More...

void	setZeros ()
	Sets the sl::Matrix3f to zero. More...

String	getInfos () const
	Returns the components of the sl::Matrix3f in a sl::String. More...

Static Functions
static Matrix3f	inverse (const Matrix3f &rotation)
	Returns the inverse of a sl::Matrix3f. More...

static Matrix3f	transpose (const Matrix3f &rotation)
	Returns the transpose of a sl::Matrix3f. More...

static Matrix3f	identity ()
	Creates an identity sl::Matrix3f. More...

static Matrix3f	zeros ()
	Creates a sl::Matrix3f filled with zeros. More...

Attributes
String	matrix_name
	Name of the matrix (optional). More...

Detailed Description

Class representing a rotation for the positional tracking module.

It inherits from the generic sl::Matrix3f class.

Constructor and Destructor

◆ Rotation() [1/5]

Rotation ( )

Default constructor.

Creates a null rotation.

◆ Rotation() [2/5]

Rotation ( const Rotation & rotation )

Copy constructor (deep copy).

Parameters

rotation : sl::Rotation to copy.

◆ Rotation() [3/5]

Rotation ( const Matrix3f & mat )

sl::Rotation constructor from an sl::Matrix3f.

Copies the sl::Matrix3f (deep copy).

Parameters

mat	: sl::Matrix3f to copy.

◆ Rotation() [4/5]

Rotation ( const Orientation & orientation )

sl::Rotation constructor from an sl::Orientation.

It converts the Orientation representation to the Rotation one.

Parameters

orientation : the Orientation to be used.

◆ Rotation() [5/5]

Rotation	(	const float	angle,
		const Translation &	axis
	)

sl::Rotation constructor from an angle and an axis.

Parameters

angle	: Rotation angle in radian.
axis	: 3D axis to rotate around.

Functions

◆ setOrientation()

void setOrientation ( const Orientation & orientation )

Sets the sl::Rotation from an sl::Orientation.

Parameters

orientation : sl::Orientation containing the rotation to set.

◆ getOrientation()

Orientation getOrientation ( ) const

Returns the sl::Orientation corresponding to the current sl::Rotation.

Returns: Rotation of the current orientation.

◆ getRotationVector()

float3 getRotationVector ( )

Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula.

Returns: Rotation vector created from the sl::Orientation values.

◆ setRotationVector()

void setRotationVector ( const float3 & vec_rot )

Sets the sl::Rotation from a rotation vector (using Rodrigues' transformation).

Parameters

vec_rot : Vector containing the rotation value for each axis (rx, ry, rz).

◆ getEulerAngles()

float3 getEulerAngles ( bool radian = true ) const

Converts the sl::Rotation into Euler angles.

Parameters

radian : Whether the angle will be returned in radian or degree.

Returns: Euler angles created from the sl::Rotation values representing the rotations around the X, Y and Z axes using YZX convention.

◆ setEulerAngles()

void setEulerAngles	(	const float3 &	euler_angles,
		bool	radian = `true`
	)

Sets the sl::Rotation from Euler angles.

Parameters

euler_angles	: Euler angles (as a sl::float3) to update the sl::Rotation.
radian	: Whether the angle is in radian or degree.

◆ operator*() [1/2]

Matrix3f operator* ( const Matrix3f & mat ) const

inherited

Gives the result of the multiplication between two sl::Matrix3f.

◆ operator*() [2/2]

Matrix3f operator* ( const float & scalar ) const

inherited

Gives the result of the multiplication between a sl::Matrix3f and a scalar.

◆ operator+() [1/2]

Matrix3f operator+ ( const Matrix3f & mat ) const

inherited

Gives the result of the addition between two sl::Matrix3f.

◆ operator+() [2/2]

Matrix3f operator+ ( const float & scalar ) const

inherited

Gives the result of the addition between a sl::Matrix3f and a scalar.

◆ operator-() [1/2]

Matrix3f operator- ( const Matrix3f & mat ) const

inherited

Gives the result of the subtraction between two sl::Matrix3f.

◆ operator-() [2/2]

Matrix3f operator- ( const float & scalar ) const

inherited

Gives the result of the subtraction between a sl::Matrix3f and a scalar.

◆ operator==()

bool operator== ( const Matrix3f & mat ) const

inherited

Test two sl::Matrix3f equality.

◆ operator!=()

bool operator!= ( const Matrix3f & mat ) const

inherited

Test two sl::Matrix3f inequality.

◆ operator()()

float& operator()	(	int	u,
		int	v
	)

inherited

Gets access to a specific point in the sl::Matrix3f (read/write).

Parameters

u	: Row to get the value from.
v	: Column to get the value from.

Returns: The value at the u, v coordinates.

◆ inverse() [1/2]

void inverse ( )

inherited

Sets the sl::Matrix3f to its inverse.

◆ inverse() [2/2]

static Matrix3f inverse ( const Matrix3f & rotation )

staticinherited

Returns the inverse of a sl::Matrix3f.

Parameters

rotation : sl::Matrix3f to compute the inverse from.

Returns: The inverse of the sl::Matrix3f given as input.

◆ transpose() [1/2]

void transpose ( )

inherited

Sets the sl::Matrix3f to its transpose.

◆ transpose() [2/2]

static Matrix3f transpose ( const Matrix3f & rotation )

staticinherited

Returns the transpose of a sl::Matrix3f.

Parameters

rotation : sl::Matrix3f to compute the transpose from.

Returns: The transpose of the sl::Matrix3f given as input.

◆ setIdentity()

void setIdentity ( )

inherited

Sets the sl::Matrix3f to identity.

◆ identity()

static Matrix3f identity ( )

staticinherited

Creates an identity sl::Matrix3f.

Returns: A sl::Matrix3f set to identity.

◆ setZeros()

void setZeros ( )

inherited

Sets the sl::Matrix3f to zero.

◆ zeros()

static Matrix3f zeros ( )

staticinherited

Creates a sl::Matrix3f filled with zeros.

Returns: A sl::Matrix3f filled with zeros.

◆ getInfos()

String getInfos ( ) const

inherited

Returns the components of the sl::Matrix3f in a sl::String.

Returns: A sl::String containing the components of the current sl::Matrix3f.

Variables

◆ matrix_name

String matrix_name

inherited

Name of the matrix (optional).

Functions

Static Functions

Attributes

Detailed Description

Constructor and Destructor

◆ Rotation() [1/5]

◆ Rotation() [2/5]

◆ Rotation() [3/5]

◆ Rotation() [4/5]

◆ Rotation() [5/5]

Functions

◆ setOrientation()

◆ getOrientation()

◆ getRotationVector()

◆ setRotationVector()

◆ getEulerAngles()

◆ setEulerAngles()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator==()

◆ operator!=()

◆ operator()()

◆ inverse() [1/2]

◆ inverse() [2/2]

◆ transpose() [1/2]

◆ transpose() [2/2]

◆ setIdentity()

◆ identity()

◆ setZeros()

◆ zeros()

◆ getInfos()

Variables

◆ matrix_name