Geometry

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• / Geometry

Structures

struct Quaternion
Unitary quaternion for the representation of a 3d rotation.

struct Cardan
Cardan angles for the representation of a 3d rotation.

Functions

Eigen::Matrix<T, 3, 3> dsp::geo::rotmat_3d_R1(T α)
3D rotation matrix, around X axis.

Eigen::Matrix<T, 3, 3> dsp::geo::rotmat_3d_R2(T α)
3D rotation matrix, around Y axis.

Eigen::Matrix<T, 3, 3> dsp::geo::rotmat_3d_R3(T α)
3D rotation matrix, around Z axis.

Eigen::Matrix<T, 3, 3> dsp::geo::rotmat_3d(T α, int axe)
3D rotation matrix, around one of the 3 canonical axis.