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Orientation classes — vector-classes • orientlib

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)).

x:

An n x m matrix object holding the vector representations, where m is 3, 4, or 9.

Class "orientation", directly. Class "vector", by class "orientation".

[, [<-

Extract or assign to subvector

[[, [[<-

Extract or assign to an entry

length

The length of the orientation vector

coerce

Coerce methods are defined to convert all orientation descendants from one to another, and to coerce an appropriately shaped matrix or array to a rotmatrix

x <- eulerzyx(0,pi/4,0)
x
#> An object of class "eulerzyx"
#> Slot "x":
#>      psi     theta phi
#> [1,]   0 0.7853982   0
#> 
eulerzxz(x)
#> An object of class "eulerzxz"
#> Slot "x":
#>           phi     theta       psi
#> [1,] 1.570796 0.7853982 -1.570796
#> 
rotmatrix(x)
#> An object of class "rotmatrix"
#> Slot "x":
#> , , 1
#> 
#>           [,1] [,2]       [,3]
#> [1,] 0.7071068    0 -0.7071068
#> [2,] 0.0000000    1  0.0000000
#> [3,] 0.7071068    0  0.7071068
#> 
#> 
rotvector(x)
#> An object of class "rotvector"
#> Slot "x":
#>           [,1] [,2]      [,3] [,4] [,5] [,6]       [,7] [,8]      [,9]
#> [1,] 0.7071068    0 0.7071068    0    1    0 -0.7071068    0 0.7071068
#> 
quaternion(x)
#> An object of class "quaternion"
#> Slot "x":
#>      q1        q2 q3        q4
#> [1,]  0 0.3826834  0 0.9238795
#> 
skewvector(x)
#> An object of class "skewvector"
#> Slot "x":
#>      [,1]      [,2] [,3]
#> [1,]    0 0.7853982    0
#> 

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