RotationAngles3D Struct Reference

Rotation angle struct. More...

Public Member Functions
	RotationAngles3D (Angle alpha, Angle beta, Angle gamma)
	Constructor.
	RotationAngles3D (Matrix3D matrix)
	Constructor.

Properties
Angle	Alpha [get]
	Rotation angle around x axis.
Angle	Beta [get]
	Rotation angle around y axis.
Angle	Gamma [get]
	Rotation angle around z axis.
Angle	Roll [get]
	The roll angle.
Angle	Pitch [get]
	The pitch angle.
Angle	Yaw [get]
	The yaw angle.

Detailed Description

Rotation angle struct.

Constructor & Destructor Documentation

RotationAngles3D() [1/2]

RotationAngles3D	(	Angle	alpha,
		Angle	beta,
		Angle	gamma )

Constructor.

Parameters

alpha	Rotation angle around x axis.
beta	Rotation angle around y axis.
gamma	Rotation angle around z axis.

RotationAngles3D() [2/2]

RotationAngles3D

(

Matrix3D

matrix

)

Constructor.

The rotation angles are calculated from the given matrix. The matrix is interpreted as a rotation matrix R:

where
alpha, beta, gamma are the rotation angles around x, y, z.
In addition roll, pitch and yaw are calculated assuming the given rotation matrix is defined after the z-y′-x″ convention (see https://en.wikipedia.org/wiki/Euler_angles).

Note

If the resulting beta are outside the range ]-90° .. 90°[ , the computation of the Euler angles is ambiguous (rotation direction may be inversed).

Parameters

matrix

3D matrix to create rotation angles from.