I would suggest something similar to what I have in em/include/EulerOperations.h, if you find it useful.

Given we already have rotation from_fixed_xyz which is a form of euler
angles, this function should probably have a more descriptive name
describing which Euler angles it uses.


On Feb 2, 2009, at 10:10 PM, Notification of IMP commits wrote:

> Author: kerenl@SALILAB.ORG
> Date: 2009-02-02 22:10:39 -0800 (Mon, 02 Feb 2009)
> New Revision: 1414
>
> Modified:
>   trunk/modules/algebra/include/Rotation3D.h
> Log:
> add rotation_from_euler
>
> Modified: trunk/modules/algebra/include/Rotation3D.h
> ===================================================================
> --- trunk/modules/algebra/include/Rotation3D.h        2009-02-03 03:11:05
> UTC (rev 1413)
> +++ trunk/modules/algebra/include/Rotation3D.h        2009-02-03 06:10:39
> UTC (rev 1414)
> @@ -114,6 +114,24 @@
>   return Rotation3D(a,b,c,d);
> }
>
> +//! Initialize a rotation from euler angles
> +/**
> +   \note http://en.wikipedia.org/wiki/
> +         Conversion_between_quaternions_and_Euler_angles
> +    \relates Rotation3D
> +*/
> +inline Rotation3D rotation_from_euler(Float phi, Float theta, Float
> psi)
> +{
> +  Float a,b,c,d;
> +  Float c1,c2,c3,s1,s2,s3;
> +  c2=cos(theta/2);c1=cos(phi/2);c3=cos(psi/2);
> +  s2=sin(theta/2);s1=sin(phi/2);s3=sin(psi/2);
> +  a = c1*c2*c3+s1*s2*s3;
> +  b = s1*c2*c3-c1*s2*s3;
> +  c = c1*s2*c3+s1*c2*s3;
> +  d = c1*c2*s3-s1*s2*c3;
> +  return Rotation3D(a,b,c,d);
> +}
> //! Generate a Rotation3D object from a rotation matrix
> /**
>    \throw ValueException if the rotation is not a rotation matrix.
>
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