vector-classes           package:orientlib           R Documentation

_O_r_i_e_n_t_a_t_i_o_n _c_l_a_s_s_e_s

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

     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))'.

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

     Objects of each class can be created by calls to the corresponding
     constructor functions:  'eulerzyx', 'eulerzxz', 'rotvector',
     'quaternion', 'skewmatrix' and 'skewvector'.

_S_l_o_t_s:

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

_E_x_t_e_n_d_s:

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

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

     [, [<- Extract or assign to subvector 

     [[, [[<- Extract or assign to an entry 

     _l_e_n_g_t_h The length of the 'orientation' vector 

     _c_o_e_r_c_e 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'

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

     Duncan Murdoch

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

     Constructor and coercion functions 'rotmatrix', 'eulerzyx',
     'eulerzxz', 'rotvector', 'quaternion', and 'skewvector'. 

     Classes 'matrix-classes', 'orientation-class'.

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

     x <- eulerzyx(0,pi/4,0)
     x
     eulerzxz(x)
     rotmatrix(x)
     rotvector(x)
     quaternion(x)
     skewvector(x)

