euler angles are normally defined as rotations around Z/X/Z. it'd be nice to have euler angles as well to be compatible with em packages if you plan to use it for such purposes.
best
frido
On Nov 13, 2008, at 12:59 AM, Dina Schneidman wrote:
> I think these are Euler angles. > http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/index... > Daniel, I agree that conceptually it is wrong to store them in > Vector3D, but it is very convenient in practice. > > On Wed, Nov 12, 2008 at 10:33 PM, Keren Lasker kerenl@salilab.org > wrote: > 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 > > _______________________________________________ > IMP-dev mailing list > IMP-dev@salilab.org > https://salilab.org/mailman/listinfo/imp-dev > > _______________________________________________ > IMP-dev mailing list > IMP-dev@salilab.org > https://salilab.org/mailman/listinfo/imp-dev
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