vector-classes {orientlib} | R Documentation |
An vector of orientations, each represented by a vector of numbers.
Each of these types stores orientations as rows of a matrix in slot x
.
The eulerzyx
class uses 3 Euler angles in the roll-pitch-yaw scheme
(rotation about Z axis, then Y axis, then X axis).
The eulerzxz
class uses 3 Euler angles in the X system scheme
(rotation about Z axis, then X axis, then Z axis again).
The rotvector
class uses the 9 components of a 3 x 3 rotation matrix, stored
in column-major order.
The quaternion
class uses the 4 components of a unit quaternion.
The skewvector
class uses the 3 non-zero components of a skew-symmetric matrix,
where (x,y,z)
stores the matrix ((0, -z, y), (z, 0, -x), (-y, x, 0))
.
Objects of each class can be created by calls to the corresponding constructor
functions: eulerzyx
, eulerzxz
, rotvector
,
quaternion
, skewmatrix
and skewvector
.
x
:matrix
object holding the vector representations, where
m is 3, 4, or 9.
Class "orientation"
, directly.
Class "vector"
, by class "orientation".
orientation
vector orientation
descendants
from one to another, and to coerce an appropriately shaped matrix or array to a rotmatrix
Duncan Murdoch
Constructor and coercion functions rotmatrix
, eulerzyx
, eulerzxz
, rotvector
,
quaternion
, and skewvector
.
Classes matrix-classes
, orientation-class
.
x <- eulerzyx(0,pi/4,0) x eulerzxz(x) rotmatrix(x) rotvector(x) quaternion(x) skewvector(x)