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. > > _______________________________________________ > IMP-commits mailing list > IMP-commits@salilab.org > https://salilab.org/mailman/listinfo/imp-commits