Orientations

Ravelin supports the following types of representations for orientation:

• 2D: rotation angle (Rot2d, Rot2f), 2x2 orientation matrix (Matrix2d, Matrix2f)
• 3D: axis-angle (AAngle2d, AAngle2f), 3x3 orientation matrix (Matrix3d, Matrix3f), unit quaternion (Quatd, Quatf)

Each type within a class (2D/3D) can be converted to any other type via simple assignment, for example: Matrix3d R = AAngled(0,1,0,M_PI_2)

No matrices carry any pose information, so they only operate on frameless types (Origin2d, Origin2f, Origin3d, Origin3f).

Include files

#include <Ravelin/AAngled.h>
#include <Ravelin/AAnglef.h>
#include <Ravelin/Quatd.h>
#include <Ravelin/Quatf.h>
#include <Ravelin/Rot2d.h>
#include <Ravelin/Rot2f.h>
#include <Ravelin/Matrix2d.h>
#include <Ravelin/Matrix2f.h>
#include <Ravelin/Matrix3d.h>
#include <Ravelin/Matrix3f.h>