Lines Matching defs:angle_axis
80 // The value angle_axis is a triple whose norm is an angle in radians,
86 void AngleAxisToQuaternion(const T* angle_axis, T* quaternion);
90 // and angle_axis will be filled with a value whose norm is the angle of
95 void QuaternionToAngleAxis(const T* quaternion, T* angle_axis);
101 void RotationMatrixToAngleAxis(const T* R, T* angle_axis);
106 T* angle_axis);
109 void AngleAxisToRotationMatrix(const T* angle_axis, T* R);
113 const T* angle_axis,
194 // y = R(angle_axis) * x;
196 void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3]);
223 inline void AngleAxisToQuaternion(const T* angle_axis, T* quaternion) {
224 const T& a0 = angle_axis[0];
225 const T& a1 = angle_axis[1];
226 const T& a2 = angle_axis[2];
252 inline void QuaternionToAngleAxis(const T* quaternion, T* angle_axis) {
265 // means that angle for the angle_axis vector which is 2 * theta
282 angle_axis[0] = q1 * k;
283 angle_axis[1] = q2 * k;
284 angle_axis[2] = q3 * k;
291 angle_axis[0] = q1 * k;
292 angle_axis[1] = q2 * k;
293 angle_axis[2] = q3 * k;
303 inline void RotationMatrixToAngleAxis(const T* R, T* angle_axis) {
304 RotationMatrixToAngleAxis(ColumnMajorAdapter3x3(R), angle_axis);
310 T* angle_axis) {
312 angle_axis[0] = R(2, 1) - R(1, 2);
313 angle_axis[1] = R(0, 2) - R(2, 0);
314 angle_axis[2] = R(1, 0) - R(0, 1);
327 T sintheta = std::min(sqrt(angle_axis[0] * angle_axis[0] +
328 angle_axis[1] * angle_axis[1] +
329 angle_axis[2] * angle_axis[2]) / kTwo,
348 angle_axis[i] *= r;
358 angle_axis[i] *= kHalf;
375 // these entries, we compare the sign of angle_axis[i]*sin(theta)
377 // angle_axis[i] should be positive, otherwise negative.
379 angle_axis[i] = theta * sqrt((R(i, i) - costheta) * inv_one_minus_costheta);
380 if (((sintheta < 0.0) && (angle_axis[i] > 0.0)) ||
381 ((sintheta > 0.0) && (angle_axis[i] < 0.0))) {
382 angle_axis[i] = -angle_axis[i];
388 inline void AngleAxisToRotationMatrix(const T* angle_axis, T* R) {
389 AngleAxisToRotationMatrix(angle_axis, ColumnMajorAdapter3x3(R));
394 const T* angle_axis,
397 const T theta2 = DotProduct(angle_axis, angle_axis);
400 // norm of the angle_axis vector is greater than zero. Otherwise
403 const T wx = angle_axis[0] / theta;
404 const T wy = angle_axis[1] / theta;
405 const T wz = angle_axis[2] / theta;
422 R(1, 0) = -angle_axis[2];
423 R(2, 0) = angle_axis[1];
424 R(0, 1) = angle_axis[2];
426 R(2, 1) = -angle_axis
427 R(0, 2) = -angle_axis[1];
428 R(1, 2) = angle_axis[0];
582 void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3]) {
587 const T theta2 = DotProduct(angle_axis, angle_axis);
596 // norm of the angle_axis vector is greater than zero. Otherwise
600 w[0] = angle_axis[0] / theta;
601 w[1] = angle_axis[1] / theta;
602 w[2] = angle_axis[2] / theta;
619 // But sintheta ~ theta and theta * w = angle_axis, which gives us
629 CrossProduct(angle_axis, pt, w_cross_pt);
