orientlib (version 0.7.2)

vector-classes: Orientation classes

Description

An vector of orientations, each represented by a vector of numbers. Each of these types stores orientations as rows of a matrix in slot x.

The eulerzyx class uses 3 Euler angles in the roll-pitch-yaw scheme (rotation about Z axis, then Y axis, then X axis).

The eulerzxz class uses 3 Euler angles in the X system scheme (rotation about Z axis, then X axis, then Z axis again).

The rotvector class uses the 9 components of a 3 x 3 rotation matrix, stored in column-major order.

The quaternion class uses the 4 components of a unit quaternion.

The skewvector class uses the 3 non-zero components of a skew-symmetric matrix, where (x,y,z) stores the matrix ((0, -z, y), (z, 0, -x), (-y, x, 0)).

Objects from the Class

Objects of each class can be created by calls to the corresponding constructor functions: eulerzyx, eulerzxz, rotvector, quaternion, skewmatrix and skewvector.

Extends

Class "orientation", directly. Class "vector", by class "orientation".

See Also

Constructor and coercion functions rotmatrix, eulerzyx, eulerzxz, rotvector, quaternion, and skewvector.

Classes matrix-classes, orientation-class.

Examples

x <- eulerzyx(0,pi/4,0)
x
eulerzxz(x)
rotmatrix(x)
rotvector(x)
quaternion(x)
skewvector(x)