Vector of Euler rotation angles. More...

#include <Euler.h>

Public Member Functions
	Euler ()
	Default constructor generates zero filled Double vector of length 3, with (1,2,3) axes.
	Euler (const Euler &other)
	Copy constructor.
Euler &	operator= (const Euler &other)
	Copy assignment.
	Euler (Double in0, Double in1=0, Double in2=0)
	Constructs an Euler with specified angles and (1,2,3) axes.
	Euler (Double in0, uInt ax0, Double in1=0, uInt ax1=0, Double in2=0, uInt ax2=0)
	Constructs an Euler with specified angles and axes.
	Euler (const Quantity &in0)
	Euler (const Quantity &in0, const Quantity &in1)
	Euler (const Quantity &in0, const Quantity &in1, const Quantity &in2)
	Euler (const Quantity &in0, uInt ax0)
	Euler (const Quantity &in0, uInt ax0, const Quantity &in1, uInt ax1=0)
	Euler (const Quantity &in0, uInt ax0, const Quantity &in1, uInt ax1, const Quantity &in2, uInt ax2=0)
	Euler (const Quantum< Vector< Double > > &in)
	Constructs an Euler (zero filled) from elements of Quantity vector.
	Euler (const Quantum< Vector< Double > > &in, const Vector< uInt > &ax)
	~Euler ()
	Destructor.
Euler	operator- () const
	The unary minus reverses the sign and order of the Euler angles.
Euler &	operator+= (const Euler &right)
	Addition and subtraction.
Euler	operator+ (const Euler &right) const
Euler &	operator-= (const Euler &right)
Euler	operator- (const Euler &right) const
Double &	operator() (uInt which)
	Return the which' angle.
const Double &	operator() (uInt which) const
Quantum< Vector< Double > >	getAngle () const
	with the optional conversion units.
Quantum< Vector< Double > >	getAngle (const Unit &unit) const
void	set (uInt which, uInt ax)
	Set an axis.
void	set (uInt ax0, uInt ax1, uInt ax2)
	Set all axes.
Int	get (uInt which) const
	Get an axis.
Static Private Member Functions
static Double	makeRad (const Quantity &in)
	The makeRad functions check and convert the input Quantities to radians.
static Vector< Double >	makeRad (const Quantum< Vector< Double > > &in)
Private Attributes
Vector< Double >	euler
	Actual vector with 3 Euler angles.
Vector< Int >	axes
	Axes.
Friends
ostream &	operator<< (ostream &os, const Euler &eul)
	Output Euler angles.

Detailed Description

Vector of Euler rotation angles.

Intended use:

Internal

Review Status

Reviewed By:: tcornwel
Date Reviewed:: 1996/02/15
Test programs:: tMeasMath

Prerequisite

Vector class
Quantum class for units
RotMatrix class for usage

Etymology

Euler angles describe the rotation of a coordinate system

Synopsis

The Euler class is a vector of three angles, together with a vector of three signed integers. The angles describe the rotation around an axis of a coordinate system, the integers the actual axis around which to rotate. The integer can be 0 (do not use this angle) or 1,2,3 to indicate the axis. Given angles (a1,a2,a3) and axes (i1,i2,i3), the actual rotation matrix constructed will be:
R = R_i3(a3).R_i2(a2).R_i1(a1)
It has the following constructors:

Euler() creates a zero filled vector of length 3. Axes: (1,2,3)
Euler(Euler) creates a copy
Euler(Double, uInt, Double=0, uInt=0, Double=0, uInt=0) creates an Euler with specified values
Euler(Double, Double=0, Double=0) creates an Euler with (1,2,3)
Euler(Quantity, uInt, Quantity=0, uInt=0, Quantity=0, uInt=0) creates an Euler with specified values
Euler(Quantity, Quantity=0, Quantity=0) creates an Euler with interpretation of angle units in the Quantities
Euler(Quantum<Vector<Double> >) creates a zero expanded Euler from at most the first three elements of Quantity vector; with (1,2,3)
Euler(Quantum<Vector<Double> >, Vector<uInt>) creates a zero expanded Euler with given values

It has a unary minus operator, which reverses the sign and order of the three angles, and the order of the axes, to produce the Euler angles for a rotation with opposite signs, so that RotMatrix(-Euler) will generate the inverse rotation matrix as compared with RotMatrix(Euler).
getAngle() functions return the Euler angles as a Quantum vector.
Eulers have addition and subtraction (on the angles). Note that this produces the correct angles for a combined rotation only if the axes are identical.
A (which) operator returns the indicated angle. Set/get functions manipulate the axes.

Example

        Quantity angle(25,"deg");       // 25 degrees
        Euler eul(angle.get().getValue(),2); // rotate over axis 2 (radians)
        RotMatrix rot(eul);             // generates rotation matrix

Motivation

To use generated precession and nutation results

Definition at line 115 of file Euler.h.

Constructor & Destructor Documentation

casa::Euler::Euler ( )

Default constructor generates zero filled Double vector of length 3, with (1,2,3) axes.

casa::Euler::Euler ( const Euler & other )

Copy constructor.

casa::Euler::Euler	(	Double	in0,
		Double	in1 = `0`,
		Double	in2 = `0`
	)

Constructs an Euler with specified angles and (1,2,3) axes.

casa::Euler::Euler	(	Double	in0,
		uInt	ax0,
		Double	in1 = `0`,
		uInt	ax1 = `0`,
		Double	in2 = `0`,
		uInt	ax2 = `0`
	)

Constructs an Euler with specified angles and axes.

casa::Euler::Euler ( const Quantity & in0 )

Thrown Exceptions

AipsError if non-angle units used

Constructs an Euler from specified angle quantities

casa::Euler::Euler	(	const Quantity &	in0,
		const Quantity &	in1
	)

casa::Euler::Euler	(	const Quantity &	in0,
		const Quantity &	in1,
		const Quantity &	in2
	)

casa::Euler::Euler	(	const Quantity &	in0,
		uInt	ax0
	)

casa::Euler::Euler	(	const Quantity &	in0,
		uInt	ax0,
		const Quantity &	in1,
		uInt	ax1 = `0`
	)

casa::Euler::Euler	(	const Quantity &	in0,
		uInt	ax0,
		const Quantity &	in1,
		uInt	ax1,
		const Quantity &	in2,
		uInt	ax2 = `0`
	)

casa::Euler::Euler ( const Quantum< Vector< Double > > & in )

Constructs an Euler (zero filled) from elements of Quantity vector.

casa::Euler::Euler	(	const Quantum< Vector< Double > > &	in,
		const Vector< uInt > &	ax
	)

casa::Euler::~Euler ( )

Destructor.

Member Function Documentation

Int casa::Euler::get ( uInt which ) const

Get an axis.

Quantum<Vector<Double> > casa::Euler::getAngle ( ) const

with the optional conversion units.

Quantum<Vector<Double> > casa::Euler::getAngle ( const Unit & unit ) const

static Double casa::Euler::makeRad ( const Quantity & in ) [static, private]

The makeRad functions check and convert the input Quantities to radians.

static Vector<Double> casa::Euler::makeRad ( const Quantum< Vector< Double > > & in ) [static, private]

Double& casa::Euler::operator() ( uInt which )

Return the which' angle.

const Double& casa::Euler::operator() ( uInt which ) const

Euler casa::Euler::operator+ ( const Euler & right ) const

Euler& casa::Euler::operator+= ( const Euler & right )

Addition and subtraction.

Euler casa::Euler::operator- ( ) const

The unary minus reverses the sign and order of the Euler angles.

Euler casa::Euler::operator- ( const Euler & right ) const

Euler& casa::Euler::operator-= ( const Euler & right )

Euler& casa::Euler::operator= ( const Euler & other )

Copy assignment.

void casa::Euler::set	(	uInt	which,
		uInt	ax
	)

Set an axis.

void casa::Euler::set	(	uInt	ax0,
		uInt	ax1,
		uInt	ax2
	)

Set all axes.

Friends And Related Function Documentation

ostream& operator<<	(	ostream &	os,
		const Euler &	eul
	)		`[friend]`

Output Euler angles.

Member Data Documentation

Vector<Int> casa::Euler::axes [private]

Axes.

Definition at line 195 of file Euler.h.

Vector<Double> casa::Euler::euler [private]

Actual vector with 3 Euler angles.

Definition at line 193 of file Euler.h.

The documentation for this class was generated from the following file:

casacore/casa/Quanta/Euler.h

Public Member Functions

Static Private Member Functions

Private Attributes

Friends