casa::RotMatrix Class Reference [Quanta_module_internal_classes]

A 3x3 rotation matrix. More...

#include <RotMatrix.h>

List of all members.

Public Member Functions
	RotMatrix ()
	Default constructor generates a unit 3x3 matrix.
	RotMatrix (const RotMatrix &other)
	The copy constructor copies.
	RotMatrix (const Euler &other)
	Make from an Euler.
	RotMatrix (const Euler &other, Int ax0, Int ax1, Int ax2)
	Make from an Euler around specified axes.
RotMatrix &	operator= (const RotMatrix &other)
	Copy assignment.
	~RotMatrix ()
	Destructor.
RotMatrix &	operator*= (const RotMatrix &other)
	The multiplication operations generate matrix products.
RotMatrix	operator* (const RotMatrix &other) const
Double &	operator() (uInt row, uInt column)
	Return the indicated element.
const Double &	operator() (uInt row, uInt column) const
Matrix< Double >	get () const
	Get as Matrix.
void	transpose ()
	Transpose the rotation matrix.
void	set (const Matrix< Double > &in)
	Fill Rotation matrix from Matrix.
void	set (const Vector< Double > &in0, const Vector< Double > &in1, const Vector< Double > &in2)
	Fill Rotation matrix from 3 (row) vectors.
Private Member Functions
void	applySingle (Double angle, Int which)
	Apply to a rotation matrix a further rotation of angle around the specified axis which (0 or 1 or 2).
Private Attributes
Double	rotat [3][3]
	The rotation matrix (3x3).
Friends
ostream &	operator<< (ostream &os, const RotMatrix &rot)
	Output a rotation matrix as a matrix.

---

Detailed Description

A 3x3 rotation matrix.

Intended use:

Internal

Review Status

Reviewed By:

tcornwel

Date Reviewed:

1996/02/15

Test programs:

tMeasMath

Prerequisite

• Matrix
• Euler

Etymology

From Rotation and Matrix

Synopsis

A rotation matrix is a 3x3 matrix, which can be used to rotate a coordinate system, notably the direction cosines in MVDirection .
A RotMatrix can be constructed by the default constructor (which will set the diagonal to 1), a copy constructor, and from a set of Euler angles with RotMatrix(Euler).
Multiplication can be done (by *= and *) of two rotation matrices.
The (uInt, uInt) operator returns the indicated element.

Example

See Euler

Motivation

To use in nutation and other coordinate calculations

Definition at line 85 of file RotMatrix.h.

---

Constructor & Destructor Documentation

casa::RotMatrix::RotMatrix

(

)

Default constructor generates a unit 3x3 matrix.

casa::RotMatrix::RotMatrix

(

const RotMatrix &

other

)

The copy constructor copies.

casa::RotMatrix::RotMatrix

(

const Euler &

other

)

Make from an Euler.

casa::RotMatrix::RotMatrix	(	const Euler &	other,
		Int	ax0,
		Int	ax1,
		Int	ax2
	)

Make from an Euler around specified axes.

casa::RotMatrix::~RotMatrix

(

)

Destructor.

---

Member Function Documentation

void casa::RotMatrix::applySingle	(	Double	angle,
		Int	which
	)			[private]

Apply to a rotation matrix a further rotation of angle around the specified axis which (0 or 1 or 2).

Matrix<Double> casa::RotMatrix::get

(

)

const

Get as Matrix.

const Double& casa::RotMatrix::operator()	(	uInt	row,
		uInt	column
	)			const

Double& casa::RotMatrix::operator()	(	uInt	row,
		uInt	column
	)

Return the indicated element.

RotMatrix casa::RotMatrix::operator*

(

const RotMatrix &

other

)

const

RotMatrix& casa::RotMatrix::operator*=

(

const RotMatrix &

other

)

The multiplication operations generate matrix products.

RotMatrix& casa::RotMatrix::operator=

(

const RotMatrix &

other

)

Copy assignment.

void casa::RotMatrix::set	(	const Vector< Double > &	in0,
		const Vector< Double > &	in1,
		const Vector< Double > &	in2
	)

Fill Rotation matrix from 3 (row) vectors.

void casa::RotMatrix::set

(

const Matrix< Double > &

in

)

Fill Rotation matrix from Matrix.

void casa::RotMatrix::transpose

(

)

Transpose the rotation matrix.

---

Friends And Related Function Documentation

ostream& operator<<	(	ostream &	os,
		const RotMatrix &	rot
	)			[friend]

Output a rotation matrix as a matrix.

---

Member Data Documentation

Double casa::RotMatrix::rotat[3][3] [private]

The rotation matrix (3x3).

Definition at line 136 of file RotMatrix.h.

---

The documentation for this class was generated from the following file:

• casa/Quanta/RotMatrix.h