occ::mults::rotation_utils Namespace Reference

Utility functions for rotation matrix creation. More...

Functions
RotationMatrix	euler_to_rotation (double alpha, double beta, double gamma)
	Create rotation matrix from Euler angles (ZYZ convention).
RotationMatrix	axis_angle_to_rotation (const Vec3 &axis, double angle)
	Create rotation matrix from axis-angle representation.
RotationMatrix	quaternion_to_rotation (const Vec4 &q)
	Create rotation matrix from quaternion.
bool	is_rotation_matrix (const RotationMatrix &R, double tolerance=1e-10)
	Validate that a matrix is a proper rotation matrix.

Detailed Description

Utility functions for rotation matrix creation.

Function Documentation

axis_angle_to_rotation()

RotationMatrix occ::mults::rotation_utils::axis_angle_to_rotation	(	const Vec3 &	axis,
		double	angle )

Create rotation matrix from axis-angle representation.

Parameters

axis	Rotation axis (will be normalized)
angle	Rotation angle in radians

Returns

3x3 rotation matrix

euler_to_rotation()

RotationMatrix occ::mults::rotation_utils::euler_to_rotation	(	double	alpha,
		double	beta,
		double	gamma )

Create rotation matrix from Euler angles (ZYZ convention).

Parameters

alpha	First rotation around Z axis (radians)
beta	Rotation around Y axis (radians)
gamma	Final rotation around Z axis (radians)

Returns

3x3 rotation matrix

is_rotation_matrix()

bool occ::mults::rotation_utils::is_rotation_matrix	(	const RotationMatrix &	R,
		double	tolerance = 1e-10 )

Validate that a matrix is a proper rotation matrix.

Parameters

R	Matrix to check

Returns

true if R is a valid rotation matrix

quaternion_to_rotation()

RotationMatrix occ::mults::rotation_utils::quaternion_to_rotation

(

const Vec4 &

q

)

Create rotation matrix from quaternion.

Parameters

q	Quaternion as [w, x, y, z] (will be normalized)

Returns

3x3 rotation matrix