#include <types.h>

Public Member Functions
	Rotation (const double rx, const double ry, const double rz)

	Rotation (const std::array< double, 3 > &rvec)

double &	rx ()

double &	ry ()

double &	rz ()

const double &	rx () const

const double &	ry () const

const double &	rz () const

std::array< double, 3 >	axisAngle () const

std::array< double, 4 >	quaternion () const

Matrix< double, 3, 3 >	matrix () const

double *	ptr ()

double const *	ptr () const

Rotation	inv () const

Rotation	operator* (const Rotation &other) const

Translation	operator* (const Translation &T) const

Point3	operator* (const Point3 &P) const

std::string	toString () const

template<class Archive >
void	serialize (Archive &ar)

Static Public Member Functions
static Rotation	fromAxisAngle (const std::array< double, 3 > &rvec)

static Rotation	fromQuaternion (const std::array< double, 4 > &q)

static Rotation	fromMatrix (const Matrix< double, 3, 3 > &R)

Detailed Description

Class defining a rotation in three dimensions. The internal representation is an angle-scaled axis.

Public Member Functions