Daniel - the angles are not Euler angles but just three angles around X/Y/Z axis. Would you like the option to rotate around another axis, ,something like: (1,1,0),45 - meaning rotating around the diagonal of the XY plane in 45 degrees? On Nov 12, 2008, at 5:43 PM, Daniel Russel wrote:
> I don't like having two equivalent constructors from thevsame data or > using a vector to hold angles. > > What I had meant with my suggestion is initialization from an axis and > an amount of rotation about that axis as that is a somewhat less > problematic basis than Euler angles (and one I use :-) > > > > On Nov 12, 2008, at 2:31 PM, Notification of IMP commits <imp-commits@salilab.org >> wrote: > >> Author: kerenl@SALILAB.ORG >> Date: 2008-11-12 14:31:59 -0800 (Wed, 12 Nov 2008) >> New Revision: 854 >> >> Modified: >> trunk/modules/misc/include/Rotation3D.h >> Log: >> 1. Change protected to private >> 2. Add constructors from Vector3D and an angle >> 3. update documentation >> >> Modified: trunk/modules/misc/include/Rotation3D.h >> =================================================================== >> --- trunk/modules/misc/include/Rotation3D.h 2008-11-12 21:15:36 >> UTC (rev 853) >> +++ trunk/modules/misc/include/Rotation3D.h 2008-11-12 22:31:59 >> UTC (rev 854) >> @@ -19,26 +19,28 @@ >> >> class IMPMISCEXPORT Rotation3D { >> public: >> - //! Initialize a rotation in x-y-z order from three angles >> + Rotation3D(){ >> + } >> + //! Initialize a rotation in x-y-z order from three Euler angles >> /** \param[in] xr Rotation around the X axis >> \param[in] yr Rotation around the Y axis >> \param[in] zr Rotation around the Z axis >> */ >> Rotation3D(Float xr, Float yr, Float zr) { >> - Float cx = cos(xr); Float cy = cos(yr); Float cz = cos(zr); >> - Float sx = sin(xr); Float sy = sin(yr); Float sz = sin(zr); >> - Float m00 = cz*cy; >> - Float m11 = -sy*sx*sz + cx*cz; >> - Float m22 = cy*cx; >> - quat_[0] = sqrt(1+m00+m11+m22)/2.0; >> - quat_[1] = sqrt(1+m00-m11-m22)/2.0; >> - quat_[2] = sqrt(1-m00+m11-m22)/2.0; >> - quat_[3] = sqrt(1-m00-m11+m22)/2.0; >> - if (cy*sx + sy*cx*sz + sx*cz < 0.0) quat_[1] = -quat_[1]; >> - if (sz*sx - sy*cx*cz - sy < 0.0) quat_[2] = -quat_[2]; >> - if (sz*cy + sy*sx*cz + sz*cx < 0.0) quat_[3] = -quat_[3]; >> + init_angles(xr,yr,zr); >> } >> - >> + //! Initialize a rotation in x-y-z order from three identical >> Euler angles >> + /** \param[in] e_angle Rotation around first the X axis, Y axis >> and Z axis >> + */ >> + Rotation3D(Float e_angle){ >> + init_angles(e_angle, e_angle, e_angle); >> + } >> + //! Initialize a rotation in x-y-z order from three Euler angles >> + /** \param[in] v A vector that holds three Euler angles (x-y-z >> order) >> + */ >> + Rotation3D(const Vector3D &v){ >> + init_angles(v[0],v[1],v[2]); >> + } >> Matrix3D get_matrix() const { >> const Float a = quat_[0]; >> const Float b = quat_[1]; >> @@ -76,7 +78,22 @@ >> return atan2(matrix21(), matrix11()); >> } >> >> -protected: >> +private: >> + void init_angles(Float xr, Float yr, Float zr) { >> + Float cx = cos(xr); Float cy = cos(yr); Float cz = cos(zr); >> + Float sx = sin(xr); Float sy = sin(yr); Float sz = sin(zr); >> + Float m00 = cz*cy; >> + Float m11 = -sy*sx*sz + cx*cz; >> + Float m22 = cy*cx; >> + quat_[0] = sqrt(1+m00+m11+m22)/2.0; >> + quat_[1] = sqrt(1+m00-m11-m22)/2.0; >> + quat_[2] = sqrt(1-m00+m11-m22)/2.0; >> + quat_[3] = sqrt(1-m00-m11+m22)/2.0; >> + if (cy*sx + sy*cx*sz + sx*cz < 0.0) quat_[1] = -quat_[1]; >> + if (sz*sx - sy*cx*cz - sy < 0.0) quat_[2] = -quat_[2]; >> + if (sz*cy + sy*sx*cz + sz*cx < 0.0) quat_[3] = -quat_[3]; >> + } >> + >> Float matrix11() const { >> return sqr(quat_[0]) + sqr(quat_[1]) - sqr(quat_[2]) - >> sqr(quat_[3]); >> } >> >> _______________________________________________ >> IMP-commits mailing list >> IMP-commits@salilab.org >> https://salilab.org/mailman/listinfo/imp-commits > _______________________________________________ > IMP-dev mailing list > IMP-dev@salilab.org > https://salilab.org/mailman/listinfo/imp-dev