orientation-class         package:orientlib         R Documentation

_C_l_a_s_s "_o_r_i_e_n_t_a_t_i_o_n"

_D_e_s_c_r_i_p_t_i_o_n:

     Abstract class for vectors of various representations of SO(3)
     (orientation) objects.

_O_b_j_e_c_t_s _f_r_o_m _t_h_e _C_l_a_s_s:

     A virtual Class: No objects may be created from it.

_M_e_t_h_o_d_s:

     _c_o_e_r_c_e Methods are defined to coerce 'orientation' objects to any
          concrete descendant class.

     '%*%' Matrix multiplication acts on 'orientation' objects 
          component by component, producing compositions of the
          rotations.

     '^' An orientation is raised to a power by multiplying its
          component rotation angles by that power.

     _t The transpose of an 'orientation' object is its  component by
          component inverse.

     _m_e_a_n The mean of an 'orientation' object is the nearest SO(3)
          matrix to  the element-by-element mean of its 3 x 3 rotation
          matrix representation.

     _w_e_i_g_h_t_e_d._m_e_a_n The weighted mean, defined analogously to the
          'mean'.

_A_u_t_h_o_r(_s):

     Duncan Murdoch

_S_e_e _A_l_s_o:

     'matrix-classes', 'vector-classes'

_E_x_a_m_p_l_e_s:

     x <- rotmatrix(diag(3))
     x
     rotvector(x)
     eulerzyx(x)
     eulerzxz(x)
     quaternion(x)

