DtDcm Class Reference

DtDcms are used to represent orientation for an object. More...

Collaboration diagram for DtDcm:

Public Member Functions
	DtDcm ()
	Create an empty DCM. More...
	DtDcm (double a, double b, double c, double d, double e, double f, double g, double h, double i)
	Create a DCM. More...
	DtDcm (const DtVector &a, const DtVector &b, const DtVector &c)
	Create a DCM from three vectors. More...
	DtDcm (const DtDcm &other)
	Copy Constructor. More...
	DtDcm (const DtQuaternion &quat)
	Construct a DCM from a quaternion. More...
	DtDcm (const DtTaitBryan &tb)
	Construct a DtDcm from a TaitBryan. More...
DtDcm &	operator= (const DtDcm &other)
	Assignment operator. More...
int	operator== (const DtDcm &other) const
	Get whether another DCM equals this DCM. More...
int	operator!= (const DtDcm &other) const
	Get whether another DCM does not equal this DCM. More...
bool	isOrthonormal () const
	Checks if this is orthonormal. More...
	operator DtVector * ()
	Returns an array of three vectors. More...
	operator const DtVector * () const
DtVector &	operator[] (int i)
	allows access to the three vectors using [] notation More...
const DtVector &	operator[] (int i) const
void	print () const
	Prints our internal state to DtInfo. More...
void	setToZero ()
	Clears DCM and sets all values to zero. More...

Static Public Member Functions
static const DtDcm &	zero ()
static const DtDcm &	identity ()

Protected Attributes
DtVector	rep [3]

Detailed Description

DtDcms are used to represent orientation for an object.

DCMs are Directed Cosine Matrices.

Represents a Directed Cosine Matrix(DCM). This class is often used to represent orientation. Alternatively, orientation can be represented as a set of three Euler angles in the TaitBryan sequence using the DtTaitBryan class. More documentation on the DCM class is available in section 12.1.2 in the VR-Link users guide.

Constructor & Destructor Documentation

DtDcm::DtDcm

(

)

Create an empty DCM.

DtDcm::DtDcm	(	double	a,
		double	b,
		double	c,
		double	d,
		double	e,
		double	f,
		double	g,
		double	h,
		double	i
	)

Create a DCM.

DtDcm::DtDcm	(	const DtVector &	a,
		const DtVector &	b,
		const DtVector &	c
	)

Create a DCM from three vectors.

DtDcm::DtDcm

(

const DtDcm &

other

)

Copy Constructor.

DtDcm::DtDcm

(

const DtQuaternion &

quat

)

Construct a DCM from a quaternion.

DtDcm::DtDcm

(

const DtTaitBryan &

tb

)

Construct a DtDcm from a TaitBryan.

Member Function Documentation

static const DtDcm& DtDcm::identity ( )

static

bool DtDcm::isOrthonormal

(

)

const

Checks if this is orthonormal.

DtDcm::operator const DtVector *

(

)

const

DtDcm::operator DtVector *

(

)

Returns an array of three vectors.

int DtDcm::operator!=

(

const DtDcm &

other

)

const

Get whether another DCM does not equal this DCM.

Warning: This operation compares floats of exact equality.

DtDcm& DtDcm::operator=

(

const DtDcm &

other

)

Assignment operator.

int DtDcm::operator==

(

const DtDcm &

other

)

const

Get whether another DCM equals this DCM.

Warning: This operation compares floats of exact equality.

DtVector& DtDcm::operator[]

(

int

i

)

allows access to the three vectors using [] notation

const DtVector& DtDcm::operator[]

(

int

i

)

const

void DtDcm::print

(

)

const

Prints our internal state to DtInfo.

void DtDcm::setToZero

(

)

Clears DCM and sets all values to zero.

static const DtDcm& DtDcm::zero ( )

static

Member Data Documentation

DtVector DtDcm::rep[3]

protected

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

• vlDcm.h