3D Rotation
[Vision Package]


Classes
struct	Gan_Quaternion
	Quaternion structure. More...
struct	Gan_Rot3D
	Structure representing 3D rotation. More...
struct	Gan_Rot3D_Cov
	Structure representing covariance of 3D rotation. More...
Defines
#define	Q1 rot1->data.q
#define	Q1 qp.q1
#define	Q2 rot2->data.q
#define	Q2 qp.q2
#define	Q0 qp.q0
#define	Q3 qp.q3
#define	RX r->x
#define	RY r->y
#define	RZ r->z
Typedefs
typedef Gan_Quaternion	Gan_Quaternion
	Quaternion structure.
typedef Gan_Rot3D	Gan_Rot3D
	Structure representing 3D rotation.
typedef Gan_Rot3D_Cov	Gan_Rot3D_Cov
	Structure representing covariance of 3D rotation.
Enumerations
enum	Gan_Rot3D_Type { GAN_ROT3D_QUATERNION, GAN_ROT3D_EXPONENTIAL, GAN_ROT3D_ANGLE_AXIS, GAN_ROT3D_MATRIX }
	Types of rotation handled by Gandalf. More...
Functions
void	gan_quat_fill_q (Gan_Quaternion *q, double q0, double q1, double q2, double q3)
	Fill quaternion with values.
Gan_Quaternion	gan_quat_fill_s (double q0, double q1, double q2, double q3)
	Fill quaternion with values.
Gan_Quaternion	gan_quat_scale_s (Gan_Quaternion *q, double s)
	Multiply all the elements of a quaternion by a scalar value.
Gan_Quaternion	gan_quat_divide_s (Gan_Quaternion *q, double s)
	Divide quaternion by scalar.
Gan_Quaternion	gan_quat_unit_s (Gan_Quaternion *q)
	Scale quaternion to unit length.
Gan_Bool	gan_rot3D_build_quaternion (Gan_Rot3D *rot, double q0, double q1, double q2, double q3)
	Fill rotation structure from quaternion.
Gan_Bool	gan_rot3D_build_exponential (Gan_Rot3D *rot, double rx, double ry, double rz)
	Fill rotation structure from exponential rotation parameters.
Gan_Bool	gan_rot3D_build_angle_axis (Gan_Rot3D *rot, double angle, double ax, double ay, double az)
	Fill rotation structure from angle/axis rotation parameters.
Gan_Bool	gan_rot3D_build_matrix (Gan_Rot3D *rot, double Rxx, double Rxy, double Rxz, double Ryx, double Ryy, double Ryz, double Rzx, double Rzy, double Rzz)
	Fill rotation structure from matrix rotation parameters.
Gan_Bool	gan_rot3D_ident_q (Gan_Rot3D *rot, Gan_Rot3D_Type type)
	Set null rotation with given type.
Gan_Rot3D	gan_rot3D_ident_s (Gan_Rot3D_Type type)
	Return null rotation with given type.
Gan_Bool	gan_rot3D_apply_v3_q (Gan_Rot3D rot, Gan_Vector3 X, Gan_Vector3 *X_new)
	Apply a rotation to a 3D point.
Gan_Vector3	gan_rot3D_apply_v3_s (Gan_Rot3D rot, Gan_Vector3 X)
	Return the rotation of a 3D point.
Gan_Bool	gan_rot3D_mult_q (Gan_Rot3D rot1, Gan_Rot3D rot2, Gan_Rot3D *rot3)
	Combine two rotations into a third.
Gan_Rot3D	gan_rot3D_mult_s (Gan_Rot3D rot1, Gan_Rot3D rot2)
	Combine two rotations and return a third.
Gan_Bool	gan_rot3D_multI_q (Gan_Rot3D rot1, Gan_Rot3D rot2, Gan_Rot3D *rot3)
	Combine two rotations into a third.
Gan_Rot3D	gan_rot3D_multI_s (Gan_Rot3D rot1, Gan_Rot3D rot2)
	Combine two rotations and return a third.
Gan_Bool	gan_rot3D_scale_q (Gan_Rot3D rot_s, double scale, Gan_Rot3D rot_d)
	Scale rotation parameters.
Gan_Rot3D	gan_rot3D_scale_s (Gan_Rot3D *rot_s, double scale)
	Multiply rotation parameters by scalar.
Gan_Bool	gan_rot3D_divide_q (Gan_Rot3D rot_s, double scale, Gan_Rot3D rot_d)
	Divide rotation parameters by scalar.
Gan_Rot3D	gan_rot3D_divide_s (Gan_Rot3D *rot_s, double scale)
	Divide rotation parameters by scalar.
Gan_Bool	gan_rot3D_add_q (Gan_Rot3D rot1, Gan_Rot3D rot2, Gan_Rot3D *rot3)
	Add two sets of rotation parameters together.
Gan_Rot3D	gan_rot3D_add_s (Gan_Rot3D rot1, Gan_Rot3D rot2)
	Add two sets of rotation parameters together.
Gan_Bool	gan_rot3D_sub_q (Gan_Rot3D rot1, Gan_Rot3D rot2, Gan_Rot3D *rot3)
	Subtract two sets of rotation parameters from each other.
Gan_Rot3D	gan_rot3D_sub_s (Gan_Rot3D rot1, Gan_Rot3D rot2)
	Subtract two sets of rotation parameters from each other.
Gan_Bool	gan_rot3D_convert_q (Gan_Rot3D rot_s, Gan_Rot3D_Type type, Gan_Rot3D rot_d)
	Convert rotation from one type to another.
Gan_Rot3D	gan_rot3D_convert_s (Gan_Rot3D *rot_s, Gan_Rot3D_Type type)
	Return conversion of rotation from one type to another.
Gan_Bool	gan_rot3D_from_quaternion_q (Gan_Rot3D rot, Gan_Quaternion q, Gan_Rot3D_Type type)
	Convert rotation from quaternion to another type.
Gan_Rot3D	gan_rot3D_from_quaternion_s (Gan_Quaternion *q, Gan_Rot3D_Type type)
	Return conversion of rotation from quaternion to another type.
Gan_Bool	gan_rot3D_from_exponential_q (Gan_Rot3D rot, Gan_Vector3 r, Gan_Rot3D_Type type)
	Convert rotation from exponential to another type.
Gan_Rot3D	gan_rot3D_from_exponential_s (Gan_Vector3 *r, Gan_Rot3D_Type type)
	Return conversion of rotation from exponential to another type.
Gan_Bool	gan_rot3D_from_angle_axis_q (Gan_Rot3D rot, double angle, Gan_Vector3 axis, Gan_Rot3D_Type type)
	Convert rotation from angle/axis to another type.
Gan_Rot3D	gan_rot3D_from_angle_axis_s (double angle, Gan_Vector3 *axis, Gan_Rot3D_Type type)
	Return conversion of rotation from angle/axis to another type.
Gan_Bool	gan_rot3D_from_matrix_q (Gan_Rot3D rot, Gan_Matrix33 R, Gan_Rot3D_Type type)
	Convert rotation from matrix to another type.
Gan_Rot3D	gan_rot3D_from_matrix_s (Gan_Matrix33 *R, Gan_Rot3D_Type type)
	Return conversion of rotation from matrix to another type.
Gan_Bool	gan_rot3D_matrix_adjust (Gan_Matrix33 *R)
	Adjust rotation matrix to be orthogonal using SVD.
Gan_Quaternion *	gan_quat_scale_q (Gan_Quaternion q1, double s, Gan_Quaternion q2)
	Macro: Scale a quaternion.
Gan_Quaternion *	gan_quat_scale_i (Gan_Quaternion *q1, double s)
	Macro: Scale a quaternion in-place.
Gan_Quaternion *	gan_quat_divide_q (Gan_Quaternion q1, double s, Gan_Quaternion q2)
	Macro: Divide a quaternion by a scalar.
Gan_Quaternion *	gan_quat_divide_i (Gan_Quaternion *q1, double s)
	Macro: Divide a quaternion by a scalar in-place.
Gan_Quaternion *	gan_quat_unit_q (Gan_Quaternion q1, Gan_Quaternion q2)
	Macro: Scale a quaternion to unit norm.
Gan_Quaternion *	gan_quat_unit_i (Gan_Quaternion *q1)
	Macro: Scale a quaternion to unit norm in-place.
double	gan_quat_sqrlen_q (Gan_Quaternion *q1)
	Macro: Return the squared length of a quaternion.
double	gan_quat_sqrlen_s (Gan_Quaternion *q1)
	Macro: Return the squared length of a quaternion.
Gan_Quaternion *	gan_quat_add_q (Gan_Quaternion q1, Gan_Quaternion q2, Gan_Quaternion *q3)
	Macro: Add two quaternions.
Gan_Quaternion *	gan_quat_sub_q (Gan_Quaternion q1, Gan_Quaternion q2, Gan_Quaternion *q3)
	Macro: Subtract two quaternions.
Gan_Bool	gan_rot3D_scale_i (Gan_Rot3D *rot, double s)
	Macro: Scale rotation parameters in-place.
Gan_Bool	gan_rot3D_divide_i (Gan_Rot3D *rot, double s)
	Macro: Divide rotation parameters by a scalar in-place.
Gan_Bool	gan_rot3D_increment (Gan_Rot3D rot1, Gan_Rot3D rot2)
	Macro: Add two sets of rotation parameters.
Gan_Bool	gan_rot3D_add_i2 (Gan_Rot3D rot1, Gan_Rot3D rot2)
	Macro: Add two sets of rotation parameters.
Gan_Bool	gan_rot3D_decrement (Gan_Rot3D rot1, Gan_Rot3D rot2)
	Macro: Subtract two sets of rotation parameters.
Gan_Bool	gan_rot3D_sub_i2 (Gan_Rot3D rot1, Gan_Rot3D rot2)
	Macro: Subtract two sets of rotation parameters.

Enumeration Type Documentation

enum Gan_Rot3D_Type

Types of rotation handled by Gandalf.

Enumeration values:

GAN_ROT3D_QUATERNION Quaternion representation of rotation.

GAN_ROT3D_EXPONENTIAL Exponential matrix representation of rotation.

GAN_ROT3D_ANGLE_AXIS Angle/axis representation of rotation.

GAN_ROT3D_MATRIX Matrix representation of rotation.

Function Documentation

Gan_Quaternion* gan_quat_add_q ( Gan_Quaternion * q1,

Gan_Quaternion * q2,

Gan_Quaternion * q3

)

Macro: Add two quaternions.
Implemented as a macro call to gan_vec4_add_q().

Gan_Quaternion* gan_quat_divide_i ( Gan_Quaternion * q1,

double s

)

Macro: Divide a quaternion by a scalar in-place.
Implemented as a macro call to gan_vec4_divide_i().

Gan_Quaternion* gan_quat_divide_q ( Gan_Quaternion * q1,

double s,

Gan_Quaternion * q2

)

Macro: Divide a quaternion by a scalar.
Implemented as a macro call to gan_vec4_divide_q().

void gan_quat_fill_q ( Gan_Quaternion * q,

double q0,

double q1,

double q2,

double q3

)

Fill quaternion with values.

Parameters:

q Pointer to quaternion to fill

q0 First element of q, representing the rotation angle

q1 Second element of q, representing the rotation axis x-coordinate

q2 Second element of q, representing the rotation axis y-coordinate

q3 Second element of q, representing the rotation axis z-coordinate

Fills a structure containing a quaternion with its four elements.

Returns:
no value.

See also:
gan_quat_fill_s()

Gan_Quaternion gan_quat_fill_s ( double q0,

double q1,

double q2,

double q3

)

Fill quaternion with values.

Parameters:

q0 First element of q, representing the rotation angle

q1 Second element of q, representing the rotation axis x-coordinate

q2 Second element of q, representing the rotation axis y-coordinate

q3 Second element of q, representing the rotation axis z-coordinate

Fills a structure containing a quaternion with its four elements.

Returns:
a filled quaternion structure.

See also:
gan_quat_fill_q()

Gan_Quaternion* gan_quat_scale_i ( Gan_Quaternion * q1,

double s

)

Macro: Scale a quaternion in-place.
Implemented as a macro call to gan_vec4_scale_i().

Gan_Quaternion* gan_quat_scale_q ( Gan_Quaternion * q1,

double s,

Gan_Quaternion * q2

)

Macro: Scale a quaternion.
Implemented as a macro call to gan_vec4_scale_q().

Gan_Quaternion gan_quat_scale_s ( Gan_Quaternion * q,

double s

)

Multiply all the elements of a quaternion by a scalar value.

Parameters:

q Pointer to quaternion to rescale

s Scalar value by which to multiply quaternion

Multiplies all the elements of a quaternion by the same scalar value.

Returns:
a quaternion structure containing the new elements.

See also:
gan_quat_divide_s()

double gan_quat_sqrlen_q ( Gan_Quaternion * q1 )

Macro: Return the squared length of a quaternion.
Implemented as a macro call to gan_vec4_sqrlen_q().

double gan_quat_sqrlen_s ( Gan_Quaternion * q1 )

Macro: Return the squared length of a quaternion.
Implemented as a macro call to gan_vec4_sqrlen_s().

Gan_Quaternion* gan_quat_sub_q ( Gan_Quaternion * q1,

Gan_Quaternion * q2,

Gan_Quaternion * q3

)

Macro: Subtract two quaternions.
Implemented as a macro call to gan_vec4_sub_q().

Gan_Quaternion* gan_quat_unit_i ( Gan_Quaternion * q1 )

Macro: Scale a quaternion to unit norm in-place.
Implemented as a macro call to gan_vec4_unit_i().

Gan_Quaternion* gan_quat_unit_q ( Gan_Quaternion * q1,

Gan_Quaternion * q2

)

Macro: Scale a quaternion to unit norm.
Implemented as a macro call to gan_quat_unit_q().

Gan_Bool gan_rot3D_add_i2 ( Gan_Rot3D * rot1,

Gan_Rot3D * rot2

)

Macro: Add two sets of rotation parameters.
Overwrites rot2 with the result. Implemented as a macro call to gan_rot3D_add_q().

Gan_Bool gan_rot3D_apply_v3_q ( Gan_Rot3D * rot,

Gan_Vector3 * X,

Gan_Vector3 * X_new

)

Apply a rotation to a 3D point.
Rotation definition is $X_{new} = R\:X$ .

Gan_Vector3 gan_rot3D_apply_v3_s ( Gan_Rot3D * rot,

Gan_Vector3 * X

)

Return the rotation of a 3D point.
Returns $R\:X$ .

Gan_Bool gan_rot3D_decrement ( Gan_Rot3D * rot1,

Gan_Rot3D * rot2

)

Macro: Subtract two sets of rotation parameters.
Overwrites rot1 with the result. Implemented as a macro call to gan_rot3D_add_q().

Gan_Bool gan_rot3D_divide_i ( Gan_Rot3D * rot,

double s

)

Macro: Divide rotation parameters by a scalar in-place.
Implemented as a macro call to gan_rot3D_scale_q().

Gan_Bool gan_rot3D_increment ( Gan_Rot3D * rot1,

Gan_Rot3D * rot2

)

Macro: Add two sets of rotation parameters.
Overwrites rot1 with the result. Implemented as a macro call to gan_rot3D_add_q().

Gan_Bool gan_rot3D_mult_q ( Gan_Rot3D * rot1,

Gan_Rot3D * rot2,

Gan_Rot3D * rot3

)

Combine two rotations into a third.
For matrices $R_3 = R_1\:R_2$ .

Gan_Rot3D gan_rot3D_mult_s ( Gan_Rot3D * rot1,

Gan_Rot3D * rot2

)

Combine two rotations and return a third.
For matrices return $R_1\:R_2$ .

Gan_Bool gan_rot3D_multI_q ( Gan_Rot3D * rot1,

Gan_Rot3D * rot2,

Gan_Rot3D * rot3

)

Combine two rotations into a third.
For matrices $R_3 = R_1\:R_2^{-1}$ .

Gan_Rot3D gan_rot3D_multI_s ( Gan_Rot3D * rot1,

Gan_Rot3D * rot2

)

Combine two rotations and return a third.
For matrices returns $R_1\:R_2^{-1}$ .

Gan_Bool gan_rot3D_scale_i ( Gan_Rot3D * rot,

double s

)

Macro: Scale rotation parameters in-place.
Implemented as a macro call to gan_rot3D_scale_q().

Gan_Bool gan_rot3D_sub_i2 ( Gan_Rot3D * rot1,

Gan_Rot3D * rot2

)

Macro: Subtract two sets of rotation parameters.
Overwrites rot2 with the result. Implemented as a macro call to gan_rot3D_sub_q().

Generated on Fri Mar 17 12:45:02 2006 by

1.3.9.1

3D Rotation [Vision Package]

Classes

Defines

Typedefs

Enumerations

Functions

Enumeration Type Documentation

Function Documentation

3D Rotation
[Vision Package]