functions to convert between 3D rotations representations

Functions
Vector4f	xv::rotationToQuaternion (Matrix3f const &rot)
	Convert a rotation matrix to quaternion. More...
Vector4d	xv::rotationToQuaternion (Matrix3d const &rot)
	Convert a rotation matrix to quaternion. More...
Matrix3f	xv::quaternionToRotation (Vector4f const &q)
	Convert quaternion to rotation matrix. More...
Matrix3d	xv::quaternionToRotation (Vector4d const &q)
	Convert quaternion to rotation matrix. More...
Matrix3f	xv::quaternionsToRotation (Vector4f const &q)
	Deprecated. Same to #quaternionToRotation.
Vector3d	xv::rotationToPitchYawRoll (Matrix3d const &rot)
	Convert rotation Euler angles. More...
Vector3f	xv::rotationToPitchYawRoll (Matrix3f const &rot)
	Convert rotation Euler angles. More...

Detailed Description

Function Documentation

Matrix3f xv::quaternionToRotation

(

Vector4f const &

q

)

Convert quaternion to rotation matrix.

Parameters

q	quaternion [qx,qy,qz,qw]

Returns

3x3 row major rotation matrix

Matrix3d xv::quaternionToRotation

(

Vector4d const &

q

)

Convert quaternion to rotation matrix.

Parameters

q	quaternion [qx,qy,qz,qw]

Returns

3x3 row major rotation matrix

Vector3d xv::rotationToPitchYawRoll

(

Matrix3d const &

rot

)

Convert rotation Euler angles.

Be carefull of gimbal lock when using Euler angles.

Parameters

rot	3x3 row major rotation matrix

Returns

[pitch, yaw, roll] in radians

Vector3f xv::rotationToPitchYawRoll

(

Matrix3f const &

rot

)

Convert rotation Euler angles.

Be carefull of gimbal lock when using Euler angles.

Parameters

rot	3x3 row major rotation matrix

Returns

[pitch, yaw, roll] in radians

Vector4f xv::rotationToQuaternion

(

Matrix3f const &

rot

)

Convert a rotation matrix to quaternion.

Parameters

rot	3x3 row major rotation matrix

Returns

quaternion [qx,qy,qz,qw]

Vector4d xv::rotationToQuaternion

(

Matrix3d const &

rot

)

Convert a rotation matrix to quaternion.

Parameters

rot	3x3 row major rotation matrix

Returns

quaternion [qx,qy,qz,qw]