RobWorkProject: EAA< T > Class Template Reference

A class for representing an equivalent angle-axis rotation. More...

#include <EAA.hpp>

Public Member Functions
	EAA (const rw::math::Rotation3D< T > &R)
	Extracts Equivalent axis-angle vector from Rotation matrix. More...

	EAA ()
	Constructs an EAA vector initialized to \(\{0,0,0\}\).

	EAA (const rw::math::Vector3D< T > &axis, T angle)
	Constructs an initialized EAA vector. More...

	EAA (T thetakx, T thetaky, T thetakz)
	Constructs an initialized EAA vector \( \thetak = \left[\begin{array}{c} \theta k_x\\ \theta k_y\\ \theta k_z \end{array}\right] \). More...

	EAA (const rw::math::Vector3D< T > &v1, const rw::math::Vector3D< T > &v2)
	Constructs an EAA vector that will rotate v1 into v2. Where v1 and v2 are normalized and described in the same reference frame. More...

	EAA (rw::math::Vector3D< T > eaa)
	Constructs an initialized EAA vector. More...

	EAA (const rw::math::EAA< T > &eaa)
	Copy Constructor. More...

template<class R >
	EAA (const Eigen::MatrixBase< R > &r)
	Constructs an initialized EAA vector from rotation matrix. More...

virtual	~EAA ()
	destructor

size_t	size () const
	Get the size of the EAA. More...

virtual const rw::math::Rotation3D< T >	toRotation3D () const
	Returns the corresponding \( 3\times 3 \) Rotation matrix. More...

T	angle () const
	Extracts the angle of rotation \( \theta \). More...

EAA< T > &	setAngle (const T &angle)
	change the angle of the EAA More...

const rw::math::Vector3D< T >	axis () const
	Extracts the axis of rotation vector \( \mathbf{\hat{\mathbf{k}}} \). More...

rw::math::Vector3D< T > &	toVector3D ()
	get the underling Vector More...

rw::math::Vector3D< T >	toVector3D () const
	get the underling Vector More...

Eigen::Matrix< T, 3, 1 > &	e ()
	get as eigen vector More...

Eigen::Matrix< T, 3, 1 >	e () const
	get as eigen vector More...

const T &	operator[] (size_t i) const
	Returns element of EAA. More...

T &	operator[] (size_t i)
	Returns element of EAA. More...

const T &	operator() (size_t i) const
	Returns element of EAA. More...

T &	operator() (size_t i)
	Returns element of EAA. More...

template<class R >
EAA< T >	elemDivide (const Eigen::MatrixBase< R > &rhs) const
	element wise division. More...

template<class R >
EAA< T >	elemMultiply (const Eigen::MatrixBase< R > &rhs) const
	Elementweise multiplication. More...

template<class R >
EAA< T >	operator- (const Eigen::MatrixBase< R > &rhs) const
	Vector subtraction.

template<class R >
EAA< T >	operator+ (const Eigen::MatrixBase< R > &rhs) const
	Vector addition.

EAA< T >	operator- () const
	Unary minus. More...

EAA< T >	elemAdd (const EAA< T > &rhs) const
	element wise addition More...

EAA< T >	elemSubtract (const EAA< T > &rhs) const
	element wise subtraction More...

EAA< T >	elemDivide (const EAA< T > &rhs) const
	element wise devision ( this / rhs ) More...

EAA< T >	elemMultiply (const EAA< T > &rhs) const
	element wise multiplication More...

EAA< T >	operator* (const EAA< T > &rhs) const
	This is rotation multiplcation, and it is multiplication of two EAA's first converted to a Rotation3D. More...

template<class R >
EAA< T >	operator* (const rw::math::Rotation3D< R > &rhs)
	matrix multiplication converting EAA to rotation More...

EAA< T >	elemMultiply (const T &rhs) const
	scalar multiplication More...

EAA< T >	elemDivide (const T &rhs) const
	scalar devision More...

EAA< T >	elemSubtract (const T rhs) const
	Scalar subtraction.

EAA< T >	elemAdd (const T rhs) const
	Scalar addition.

EAA< T >	scaleAngle (const T &scale)
	scale the angle, keeping the axis the same More...

EAA< T >	operator+ (const rw::math::Vector3D< T > &rhs) const
	element wise multiplication. More...

EAA< T >	operator- (const rw::math::Vector3D< T > &rhs) const
	Vector addition. More...

EAA< T >	elemDivide (const rw::math::Vector3D< T > &rhs) const
	element wise devision ( this / rhs ) More...

EAA< T >	elemMultiply (const rw::math::Vector3D< T > &rhs) const
	element wise multiplication More...

rw::math::Vector3D< T >	cross (const rw::math::Vector3D< T > &v) const
	Calculates the cross product and returns the result. More...

EAA< T >	cross (const EAA< T > &eaa) const
	Calculates the cross product and returns the result. More...

T	dot (const rw::math::Vector3D< T > &v)
	Calculates the dot product and returns the result. More...

T	dot (const EAA< T > &eaa)
	Calculates the cross product and returns the result. More...

T	norm2 () const
	Returns the Euclidean norm (2-norm) of the vector. More...

T	norm1 () const
	Returns the Manhatten norm (1-norm) of the vector. More...

T	normInf () const
	Returns the infinte norm ( \(\inf\)-norm) of the vector. More...

EAA< T > &	operator= (const EAA< T > &rhs)
	copy operator More...

EAA< T > &	operator= (const rw::math::Vector3D< T > &rhs)
	assign vector to EAA More...

EAA< T > &	operator+= (const rw::math::Vector3D< T > &rhs)
	addition operator More...

EAA< T > &	operator-= (const rw::math::Vector3D< T > &rhs)
	subtraction operator More...

	operator rw::math::Vector3D< T > () const
	Implicit converter to Vector3D.

	operator rw::math::Vector3D< T > & ()
	Implicit converter to Vector3D.

template<class R >
EAA< T > &	operator= (const Eigen::MatrixBase< R > &r)
	copy a vector from eigen type More...

template<class R >
EAA< T > &	operator+= (const Eigen::MatrixBase< R > &r)
	Vector addition.

template<class R >
EAA< T > &	operator-= (const Eigen::MatrixBase< R > &r)
	Vector subtraction.

	operator Eigen::Matrix< T, 3, 1 > () const
	implicit conversion to EigenVector

	operator Eigen::Matrix< T, 3, 1 > & ()
	implicit conversion to EigenVector

EAA< T > &	operator= (const rw::math::Rotation3D< T > &rhs)
	copy operator More...

bool	operator== (const rw::math::Vector3D< T > &rhs) const
	Compare with rhs for equality. More...

bool	operator!= (const rw::math::Vector3D< T > &rhs) const
	Compare with rhs for inequality. More...

bool	operator== (const EAA< T > &rhs) const
	Compare with rhs for equality. More...

bool	operator!= (const EAA< T > &rhs) const
	Compare with rhs for inequality. More...

template<class R >
bool	operator== (const Eigen::MatrixBase< R > &rhs) const
	Compare with rhs for equality. More...

template<class R >
bool	operator!= (const Eigen::MatrixBase< R > &rhs) const
	Compare with rhs for inequality. More...

Public Member Functions inherited from Rotation3DVector< double >
virtual	~Rotation3DVector ()
	Virtual destructor.

Friends
template<class R >
EAA< T >	operator- (const Eigen::MatrixBase< R > &lhs, const EAA< T > &rhs)
	Vector subtraction.

template<class R >
EAA< T >	operator+ (const Eigen::MatrixBase< R > &lhs, const EAA< T > &rhs)
	Vector subtraction.

EAA< T >	operator* (const rw::math::Rotation3D< T > &aRb, const EAA< T > &bTKc)
	Calculates \( \robabx{a}{c}{\thetak} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{\thetak}} \). More...

EAA< T >	operator+ (const rw::math::Vector3D< T > &lhs, const EAA< T > &rhs)
	Vector addition. More...

EAA< T >	operator- (const rw::math::Vector3D< T > &lhs, const EAA< T > &rhs)
	Vector addition. More...

std::ostream &	operator<< (std::ostream &os, const EAA< T > &eaa)
	Ouputs EAA to stream. More...

bool	operator== (const rw::math::Vector3D< T > &lhs, const EAA< T > &rhs)
	Compare with rhs for equality. More...

bool	operator!= (const rw::math::Vector3D< T > &lhs, const EAA< T > &rhs)
	Compare with rhs for inequality. More...

template<class R >
bool	operator== (const Eigen::MatrixBase< R > &lhs, const EAA< T > &rhs)
	Compare with rhs for equality. More...

template<class R >
bool	operator!= (const Eigen::MatrixBase< R > &lhs, const EAA< T > &rhs)
	Compare with rhs for inequality. More...

Related Functions
(Note that these are not member functions.)
template<>
void	write (const rw::math::EAA< double > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)

template<>
void	write (const rw::math::EAA< float > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)

template<>
void	read (rw::math::EAA< double > &sobject, rw::common::InputArchive &iarchive, const std::string &id)

template<>
void	read (rw::math::EAA< float > &sobject, rw::common::InputArchive &iarchive, const std::string &id)

Additional Inherited Members
Protected Member Functions inherited from Rotation3DVector< double >
	Rotation3DVector (const Rotation3DVector &)
	Copy Constructor. More...

	Rotation3DVector ()
	Default Constructor.

Rotation3DVector &	operator= (const Rotation3DVector &)
	Assignment operator is protected to force subclasses to implement it by themself.

Detailed Description

template<class T = double>
class rw::math::EAA< T >

A class for representing an equivalent angle-axis rotation.

This class defines an equivalent-axis-angle orientation vector also known as an \( \thetak \) vector or "axis+angle" vector

The equivalent-axis-angle vector is the product of a unit vector \( \hat{\mathbf{k}} \) and an angle of rotation around that axis \( \theta \)

Note: given two EAA vectors \( \theta_1\mathbf{\hat{k}}_1 \) and \( \theta_2\mathbf{\hat{k}}_2 \) it is generally not possible to subtract or add these vectors, except for the special case when \( \mathbf{\hat{k}}_1 == \mathbf{\hat{k}}_2 \) this is why this class does not have any subtraction or addition operators

Constructor & Destructor Documentation

◆ EAA() [1/7]

EAA ( const rw::math::Rotation3D< T > & R )

explicit

Extracts Equivalent axis-angle vector from Rotation matrix.

Parameters

R	[in] A 3x3 rotation matrix \( \mathbf{R} \)

\( \theta = arccos(\frac{1}{2}(Trace(\mathbf{R})-1)=arccos(\frac{r_{11}+r_{22}+r_{33}-1}{2}) \)

\( \thetak=log(\mathbf{R})=\frac{\theta}{2 sin \theta}(\mathbf{R}-\mathbf{R}^T) = \frac{\theta}{2 sin \theta} \left[ \begin{array}{c} r_{32}-r_{23}\\ r_{13}-r_{31}\\ r_{21}-r_{12} \end{array} \right] \)

\( \thetak= \left[ \begin{array}{c} 0\\ 0\\ 0 \end{array} \right] \) if \( \theta = 0 \)

\( \thetak=\pi \left[ \begin{array}{c} \sqrt{(R(0,0)+1.0)/2.0}\\ \sqrt{(R(1,1)+1.0)/2.0}\\ \sqrt{(R(2,2)+1.0)/2.0} \end{array} \right] \) if \( \theta = \pi \)

◆ EAA() [2/7]

EAA	(	const rw::math::Vector3D< T > &	axis,
		T	angle
	)

inline

Constructs an initialized EAA vector.

Parameters

axis	[in] \( \mathbf{\hat{k}} \)
angle	[in] \( \theta \)

Precondition: norm_2(axis) = 1

◆ EAA() [3/7]

EAA	(	T	thetakx,
		T	thetaky,
		T	thetakz
	)

inline

Constructs an initialized EAA vector \( \thetak = \left[\begin{array}{c} \theta k_x\\ \theta k_y\\ \theta k_z \end{array}\right] \).

Parameters

thetakx	[in] \( \theta k_x \)
thetaky	[in] \( \theta k_y \)
thetakz	[in] \( \theta k_z \)

◆ EAA() [4/7]

EAA	(	const rw::math::Vector3D< T > &	v1,
		const rw::math::Vector3D< T > &	v2
	)

Constructs an EAA vector that will rotate v1 into v2. Where v1 and v2 are normalized and described in the same reference frame.

Parameters

v1	[in] normalized vector
v2	[in] normalized vector

◆ EAA() [5/7]

EAA ( rw::math::Vector3D< T > eaa )

inlineexplicit

Constructs an initialized EAA vector.

The angle of the EAA are \(\|eaa\|\) and the axis is \(\frac{eaa}{\|eaa\|}\)

Parameters

eaa	[in] Values to initialize the EAA

◆ EAA() [6/7]

EAA ( const rw::math::EAA< T > & eaa )

inline

Copy Constructor.

Parameters

eaa	[in] Values to initialize the EAA

◆ EAA() [7/7]

EAA ( const Eigen::MatrixBase< R > & r )

inlineexplicit

Constructs an initialized EAA vector from rotation matrix.

The angle of the EAA are \(\|eaa\|\) and the axis is \(\frac{eaa}{\|eaa\|}\)

Parameters

r	[in] the rotation matrix to initialize EAA from.

Member Function Documentation

◆ angle()

T angle ( ) const

inline

Extracts the angle of rotation \( \theta \).

Returns: \( \theta \)

◆ axis()

const rw::math::Vector3D<T> axis ( ) const

inline

Extracts the axis of rotation vector \( \mathbf{\hat{\mathbf{k}}} \).

Returns: \( \mathbf{\hat{\mathbf{k}}} \)

◆ cross() [1/2]

EAA<T> cross ( const EAA< T > & eaa ) const

inline

Calculates the cross product and returns the result.

Parameters

eaa	[in] a EAA

Returns: the resulting 3D vector

◆ cross() [2/2]

rw::math::Vector3D<T> cross ( const rw::math::Vector3D< T > & v ) const

inline

Calculates the cross product and returns the result.

Parameters

v	[in] a Vector3D

Returns: the resulting 3D vector

◆ dot() [1/2]

T dot ( const EAA< T > & eaa )

inline

Calculates the cross product and returns the result.

Parameters

eaa	[in] a EAA

Returns: the resulting 3D vector

◆ dot() [2/2]

T dot ( const rw::math::Vector3D< T > & v )

inline

Calculates the dot product and returns the result.

Parameters

v	[in] a Vector3D

Returns: the resulting scalar

◆ e() [1/2]

Eigen::Matrix<T, 3, 1>& e ( )

inline

get as eigen vector

Returns: Eigenvector

◆ e() [2/2]

Eigen::Matrix<T, 3, 1> e ( ) const

inline

get as eigen vector

Returns: Eigenvector

◆ elemAdd()

EAA<T> elemAdd ( const EAA< T > & rhs ) const

inline

element wise addition

Parameters

rhs	[in] the EAA to be added

Returns: the sum of the two EAA's

◆ elemDivide() [1/4]

EAA<T> elemDivide ( const EAA< T > & rhs ) const

inline

element wise devision ( this / rhs )

Parameters

rhs	[in] the EAA to be devided with

Returns: the result of division

◆ elemDivide() [2/4]

EAA<T> elemDivide ( const Eigen::MatrixBase< R > & rhs ) const

inline

element wise division.

Parameters

rhs	[in] the vector being devided with

Returns: the resulting Vector3D

◆ elemDivide() [3/4]

EAA<T> elemDivide ( const rw::math::Vector3D< T > & rhs ) const

inline

element wise devision ( this / rhs )

Parameters

rhs	[in] the Vector to be devided with

Returns: the result of division

◆ elemDivide() [4/4]

EAA<T> elemDivide ( const T & rhs ) const

inline

scalar devision

Parameters

rhs	[in] the scalar to devide with

Returns: the resulting EAA

◆ elemMultiply() [1/4]

EAA<T> elemMultiply ( const EAA< T > & rhs ) const

inline

element wise multiplication

Parameters

rhs	[in] the EAA to be multiplyed with

Returns: the result of division

◆ elemMultiply() [2/4]

EAA<T> elemMultiply ( const Eigen::MatrixBase< R > & rhs ) const

inline

Elementweise multiplication.

Parameters

rhs	[in] vector

Returns: the element wise product

◆ elemMultiply() [3/4]

EAA<T> elemMultiply ( const rw::math::Vector3D< T > & rhs ) const

inline

element wise multiplication

Parameters

rhs	[in] the Vector to be multiplyed with

Returns: the result of division

◆ elemMultiply() [4/4]

EAA<T> elemMultiply ( const T & rhs ) const

inline

scalar multiplication

Parameters

rhs	[in] the scalar to multiply with

Returns: the product

◆ elemSubtract()

EAA<T> elemSubtract ( const EAA< T > & rhs ) const

inline

element wise subtraction

Parameters

rhs	[in] the EAA to be subtracted

Returns: the difference between the two EAA's

◆ norm1()

T norm1 ( ) const

inline

Returns the Manhatten norm (1-norm) of the vector.

Returns: the norm

◆ norm2()

T norm2 ( ) const

inline

Returns the Euclidean norm (2-norm) of the vector.

Returns: the norm

◆ normInf()

T normInf ( ) const

inline

Returns the infinte norm ( \(\inf\)-norm) of the vector.

Returns: the norm

◆ operator!=() [1/3]

bool operator!= ( const EAA< T > & rhs ) const

inline

Compare with rhs for inequality.

Parameters

rhs	[in] other vector.

Returns: True if a and b are different, false otherwise.

◆ operator!=() [2/3]

bool operator!= ( const Eigen::MatrixBase< R > & rhs ) const

inline

Compare with rhs for inequality.

Parameters

rhs	[in] other vector.

Returns: True if a and b are different, false otherwise.

◆ operator!=() [3/3]

bool operator!= ( const rw::math::Vector3D< T > & rhs ) const

inline

Compare with rhs for inequality.

Parameters

rhs	[in] other vector.

Returns: True if a and b are different, false otherwise.

◆ operator()() [1/2]

T& operator() ( size_t i )

inline

Returns element of EAA.

Parameters

i	[in] index ( \( 0 < i < 3 \))

Returns: the \( i \)'th element

◆ operator()() [2/2]

const T& operator() ( size_t i ) const

inline

Returns element of EAA.

Parameters

i	[in] index ( \( 0 < i < 3 \))

Returns: the \( i \)'th element

◆ operator*() [1/2]

EAA<T> operator* ( const EAA< T > & rhs ) const

inline

This is rotation multiplcation, and it is multiplication of two EAA's first converted to a Rotation3D.

Parameters

rhs	[in] the eaa to multiply with

Returns: the new rotation

◆ operator*() [2/2]

EAA<T> operator* ( const rw::math::Rotation3D< R > & rhs )

inline

matrix multiplication converting EAA to rotation

Parameters

rhs	[in] the roation matrix to multiply with

Returns: EAA ( this->toRotation3D() * rhs)

◆ operator+()

EAA<T> operator+ ( const rw::math::Vector3D< T > & rhs ) const

inline

element wise multiplication.

Parameters

rhs	[in] the vector being devided with

Returns: the resulting EAA

◆ operator+=()

EAA<T>& operator+= ( const rw::math::Vector3D< T > & rhs )

inline

addition operator

Parameters

rhs	[in] the right hand side of the operation

Returns: reference to this EAA

◆ operator-() [1/2]

EAA<T> operator- ( ) const

inline

Unary minus.

negative version

◆ operator-() [2/2]

EAA<T> operator- ( const rw::math::Vector3D< T > & rhs ) const

inline

Vector addition.

Parameters

rhs	[in] the vector being added

Returns: the resulting EAA

◆ operator-=()

EAA<T>& operator-= ( const rw::math::Vector3D< T > & rhs )

inline

subtraction operator

Parameters

rhs	[in] the right hand side of the operation

Returns: reference to this EAA

◆ operator=() [1/4]

EAA<T>& operator= ( const EAA< T > & rhs )

inline

copy operator

Parameters

rhs	[in] the EAA to be copied

Returns: reference to this EAA

◆ operator=() [2/4]

EAA<T>& operator= ( const Eigen::MatrixBase< R > & r )

inline

copy a vector from eigen type

Parameters

r	[in] an Eigen Vector

◆ operator=() [3/4]

EAA<T>& operator= ( const rw::math::Rotation3D< T > & rhs )

inline

copy operator

Parameters

rhs	[in] the Rotation3D to be copied

Returns: reference to this EAA

◆ operator=() [4/4]

EAA<T>& operator= ( const rw::math::Vector3D< T > & rhs )

inline

assign vector to EAA

Parameters

rhs	[in] the vector to asign

Returns: reference to this EAA

◆ operator==() [1/3]

bool operator== ( const EAA< T > & rhs ) const

inline

Compare with rhs for equality.

Parameters

rhs	[in] other vector.

Returns: True if a equals b, false otherwise.

◆ operator==() [2/3]

bool operator== ( const Eigen::MatrixBase< R > & rhs ) const

inline

Compare with rhs for equality.

Parameters

rhs	[in] other vector.

Returns: True if a equals b, false otherwise.

◆ operator==() [3/3]

bool operator== ( const rw::math::Vector3D< T > & rhs ) const

inline

Compare with rhs for equality.

Parameters

rhs	[in] other vector.

Returns: True if a equals b, false otherwise.

◆ operator[]() [1/2]

T& operator[] ( size_t i )

inline

Returns element of EAA.

Parameters

i	[in] index ( \( 0 < i < 3 \))

Returns: the \( i \)'th element

◆ operator[]() [2/2]

const T& operator[] ( size_t i ) const

inline

Returns element of EAA.

Parameters

i	[in] index ( \( 0 < i < 3 \))

Returns: the \( i \)'th element

◆ scaleAngle()

EAA<T> scaleAngle ( const T & scale )

inline

scale the angle, keeping the axis the same

Parameters

scale [in] how much the angle should change

Returns: a new EAA with the scaled angle

◆ setAngle()

EAA<T>& setAngle ( const T & angle )

inline

change the angle of the EAA

Parameters

angle [in] the new angle

Returns: this object

◆ size()

size_t size ( ) const

inline

Get the size of the EAA.

Returns: the size (always 3).

◆ toRotation3D()

virtual const rw::math::Rotation3D<T> toRotation3D ( ) const

virtual

Returns the corresponding \( 3\times 3 \) Rotation matrix.

Returns: The rotation matrix

\( \mathbf{R} = e^{[\mathbf{\hat{k}}],\theta}=\mathbf{I}^{3x3}+[\mathbf{\hat{k}}] sin\theta+[{\mathbf{\hat{k}}}]^2(1-cos\theta) = \left[ \begin{array}{ccc} k_xk_xv\theta + c\theta & k_xk_yv\theta - k_zs\theta & k_xk_zv\theta + k_ys\theta \\ k_xk_yv\theta + k_zs\theta & k_yk_yv\theta + c\theta & k_yk_zv\theta - k_xs\theta\\ k_xk_zv\theta - k_ys\theta & k_yk_zv\theta + k_xs\theta & k_zk_zv\theta + c\theta \end{array} \right] \)

where:

\( c\theta = cos \theta \)
\( s\theta = sin \theta \)
\( v\theta = 1-cos \theta \)

Implements Rotation3DVector< double >.

◆ toVector3D() [1/2]

rw::math::Vector3D<T>& toVector3D ( )

inline

get the underling Vector

Returns: the vector

◆ toVector3D() [2/2]

rw::math::Vector3D<T> toVector3D ( ) const

inline

get the underling Vector

Returns: the vector

Friends And Related Function Documentation

◆ operator!= [1/2]

bool operator!=	(	const Eigen::MatrixBase< R > &	lhs,
		const EAA< T > &	rhs
	)

friend

Compare with rhs for inequality.

Parameters

lhs	[in] first vector.
rhs	[in] other vector.

Returns: True if a and b are different, false otherwise.

◆ operator!= [2/2]

bool operator!=	(	const rw::math::Vector3D< T > &	lhs,
		const EAA< T > &	rhs
	)

friend

Compare with rhs for inequality.

Parameters

lhs	[in] first Vector
rhs	[in] second vector.

Returns: True if a and b are different, false otherwise.

◆ operator*

EAA<T> operator*	(	const rw::math::Rotation3D< T > &	aRb,
		const EAA< T > &	bTKc
	)

friend

Calculates \( \robabx{a}{c}{\thetak} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{\thetak}} \).

Parameters

aRb	[in] \( \robabx{a}{b}{\mathbf{R}} \)
bTKc	[in] \( \robabx{b}{c}{\thetak} \)

Returns: \( \robabx{a}{c}{\thetak} \)

◆ operator+

EAA<T> operator+	(	const rw::math::Vector3D< T > &	lhs,
		const EAA< T > &	rhs
	)

friend

Vector addition.

Parameters

lhs	[in] left side value
rhs	[in] right side value

Returns: the resulting EAA

◆ operator-

EAA<T> operator-	(	const rw::math::Vector3D< T > &	lhs,
		const EAA< T > &	rhs
	)

friend

Vector addition.

Parameters

lhs	[in] left side value
rhs	[in] right side value

Returns: the resulting EAA

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const EAA< T > &	eaa
	)

friend

Ouputs EAA to stream.

Parameters

os	[in/out] stream to use
eaa	[in] equivalent axis-angle

Returns: the resulting stream

◆ operator== [1/2]

bool operator==	(	const Eigen::MatrixBase< R > &	lhs,
		const EAA< T > &	rhs
	)

friend

Compare with rhs for equality.

Parameters

lhs	[in] first vector.
rhs	[in] other vector.

Returns: True if a equals b, false otherwise.

◆ operator== [2/2]

bool operator==	(	const rw::math::Vector3D< T > &	lhs,
		const EAA< T > &	rhs
	)

friend

Compare with rhs for equality.

Parameters

lhs	[in] first Vector
rhs	[in] second vector.

Returns: True if a equals b, false otherwise.

◆ read() [1/2]

void read	(	rw::math::EAA< double > &	sobject,
		rw::common::InputArchive &	iarchive,
		const std::string &	id
	)

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters

sobject	[out] the object in which the data should be streamed into
iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ read() [2/2]

void read	(	rw::math::EAA< float > &	sobject,
		rw::common::InputArchive &	iarchive,
		const std::string &	id
	)

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters

sobject	[out] the object in which the data should be streamed into
iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ write() [1/2]

void write	(	const rw::math::EAA< double > &	sobject,
		rw::common::OutputArchive &	oarchive,
		const std::string &	id
	)

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters

sobject	[in] the object from which the data should be streamed.
oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ write() [2/2]

void write	(	const rw::math::EAA< float > &	sobject,
		rw::common::OutputArchive &	oarchive,
		const std::string &	id
	)

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters

sobject	[in] the object from which the data should be streamed.
oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

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

core/math_fwd.hpp
EAA.hpp

Public Member Functions

Friends

Related Functions

Additional Inherited Members

Detailed Description

template<class T = double> class rw::math::EAA< T >

Constructor & Destructor Documentation

◆ EAA() [1/7]

◆ EAA() [2/7]

◆ EAA() [3/7]

◆ EAA() [4/7]

◆ EAA() [5/7]

◆ EAA() [6/7]

◆ EAA() [7/7]

Member Function Documentation

◆ angle()

◆ axis()

◆ cross() [1/2]

◆ cross() [2/2]

◆ dot() [1/2]

◆ dot() [2/2]

◆ e() [1/2]

◆ e() [2/2]

◆ elemAdd()

◆ elemDivide() [1/4]

◆ elemDivide() [2/4]

◆ elemDivide() [3/4]

◆ elemDivide() [4/4]

◆ elemMultiply() [1/4]

◆ elemMultiply() [2/4]

◆ elemMultiply() [3/4]

◆ elemMultiply() [4/4]

◆ elemSubtract()

◆ norm1()

◆ norm2()

◆ normInf()

◆ operator!=() [1/3]

◆ operator!=() [2/3]

◆ operator!=() [3/3]

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator=() [1/4]

◆ operator=() [2/4]

◆ operator=() [3/4]

◆ operator=() [4/4]

◆ operator==() [1/3]

◆ operator==() [2/3]

◆ operator==() [3/3]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ scaleAngle()

◆ setAngle()

◆ size()

◆ toRotation3D()

◆ toVector3D() [1/2]

◆ toVector3D() [2/2]

Friends And Related Function Documentation

◆ operator!= [1/2]

◆ operator!= [2/2]

◆ operator*

◆ operator+

◆ operator-

◆ operator<<

◆ operator== [1/2]

◆ operator== [2/2]

◆ read() [1/2]

◆ read() [2/2]

◆ write() [1/2]

◆ write() [2/2]

template<class T = double>
class rw::math::EAA< T >