当前位置: 首页>>代码示例>>C++>>正文

C++ Rotation::asMat33方法代码示例

本文整理汇总了C++中Rotation::asMat33方法的典型用法代码示例。如果您正苦于以下问题：C++ Rotation::asMat33方法的具体用法？C++ Rotation::asMat33怎么用？C++ Rotation::asMat33使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Rotation的用法示例。


在下文中一共展示了Rotation::asMat33方法的3个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: convertAnglesToDirectionCosines

/**
 * Convert angles to direction cosines.
 * @param aE1 1st Euler angle.
 * @param aE2 2nd Euler angle.
 * @param aE3 3rd Euler angle.
 * @param rDirCos Vector of direction cosines.
 */
void SimbodyEngine::convertAnglesToDirectionCosines(double aE1, double aE2, double aE3, double rDirCos[3][3]) const
{
    Vec3 angs(aE1, aE2, aE3);
    Rotation aRot; 
    aRot.setRotationToBodyFixedXYZ(angs);
    Mat33::updAs(&rDirCos[0][0]) = aRot.asMat33();
}
开发者ID:chrisdembia，项目名称:opensim-core，代码行数:14，代码来源:SimbodyEngine.cpp

示例2: convertQuaternionsToDirectionCosines

/**
 * Convert quaternions to direction cosines.
 * @param aQ1 1st Quaternion.
 * @param aQ2 2nd Quaternion.
 * @param aQ3 3rd Quaternion.
 * @param aQ4 4th Quaternion.
 * @param rDirCos Vector of direction cosines.
 */
void SimbodyEngine::convertQuaternionsToDirectionCosines(double aQ1, double aQ2, double aQ3, double aQ4, double rDirCos[3][3]) const
{
    Rotation R;
    R.setRotationFromQuaternion(Quaternion(Vec4(aQ1, aQ2, aQ3, aQ4)));

    Mat33::updAs(&rDirCos[0][0]) = R.asMat33();
}
开发者ID:chrisdembia，项目名称:opensim-core，代码行数:15，代码来源:SimbodyEngine.cpp

示例3: doRequiredTasks


//.........这里部分代码省略.........

    test = test && testRotationThreeAxes(  BodyRotationSequence,  0.2, XAxis, 0.3, YAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  0.2, XAxis, 0.3, YAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence,  1.2, XAxis,-1.3, YAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  1.2, XAxis,-1.3, YAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence, -3.1, XAxis, 1.2, YAxis, 1.3, ZAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence, -3.1, XAxis, 1.2, YAxis, 1.3, ZAxis );

    test = test && testRotationThreeAxes(  BodyRotationSequence,  0.2, XAxis, 0.3, ZAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  0.2, XAxis, 0.3, ZAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence,  1.2, XAxis,-1.3, ZAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  1.2, XAxis,-1.3, ZAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence, -3.1, XAxis, 1.2, ZAxis, 1.3, ZAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence, -3.1, XAxis, 1.2, ZAxis, 1.3, ZAxis );

    // Test rotation with three angles and three axes YXX, YXY, YXZ, YYX, YYY, YYZ, YZX, YZY, YZZ
    test = test && testRotationThreeAxes(  BodyRotationSequence,  0.2, YAxis, 0.3, XAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  0.2, YAxis, 0.3, XAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence,  1.2, YAxis,-1.3, XAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  1.2, YAxis,-1.3, XAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence, -3.1, YAxis, 1.2, XAxis, 1.3, ZAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence, -3.1, YAxis, 1.2, XAxis, 1.3, ZAxis );

    test = test && testRotationThreeAxes(  BodyRotationSequence,  0.2, YAxis, 0.3, YAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  0.2, YAxis, 0.3, YAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence,  1.2, YAxis,-1.3, YAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  1.2, YAxis,-1.3, YAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence, -3.1, YAxis, 1.2, YAxis, 1.3, ZAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence, -3.1, YAxis, 1.2, YAxis, 1.3, ZAxis );

    test = test && testRotationThreeAxes(  BodyRotationSequence,  0.2, YAxis, 0.3, ZAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  0.2, YAxis, 0.3, ZAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence,  1.2, YAxis,-1.3, ZAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  1.2, YAxis,-1.3, ZAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence, -3.1, YAxis, 1.2, ZAxis, 1.3, ZAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence, -3.1, YAxis, 1.2, ZAxis, 1.3, ZAxis );

    // Test rotation with three angles and three axes ZXX, ZXY, ZXZ, ZYX, ZYY, ZYZ, ZZX, ZZY, ZZZ
    test = test && testRotationThreeAxes(  BodyRotationSequence,  0.2, ZAxis, 0.3, XAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  0.2, ZAxis, 0.3, XAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence,  1.2, ZAxis,-1.3, XAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  1.2, ZAxis,-1.3, XAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence, -3.1, ZAxis, 1.2, XAxis, 1.3, ZAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence, -3.1, ZAxis, 1.2, XAxis, 1.3, ZAxis );

    test = test && testRotationThreeAxes(  BodyRotationSequence,  0.2, ZAxis, 0.3, YAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  0.2, ZAxis, 0.3, YAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence,  1.2, ZAxis,-1.3, YAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  1.2, ZAxis,-1.3, YAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence, -3.1, ZAxis, 1.2, YAxis, 1.3, ZAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence, -3.1, ZAxis, 1.2, YAxis, 1.3, ZAxis );

    test = test && testRotationThreeAxes(  BodyRotationSequence,  0.2, ZAxis, 0.3, ZAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  0.2, ZAxis, 0.3, ZAxis, 0.4, XAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence,  1.2, ZAxis,-1.3, ZAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence,  1.2, ZAxis,-1.3, ZAxis,-1.4, YAxis );
    test = test && testRotationThreeAxes(  BodyRotationSequence, -3.1, ZAxis, 1.2, ZAxis, 1.3, ZAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence, -3.1, ZAxis, 1.2, ZAxis, 1.3, ZAxis );

    // This used to fail
    test = test && testRotationThreeAxes(  BodyRotationSequence, -3.2288591161895095, XAxis, -3.1415926535897931, YAxis, -3.1415926535897931, XAxis );
    test = test && testRotationThreeAxes( SpaceRotationSequence, -3.2288591161895095, XAxis, -3.1415926535897931, YAxis, -3.1415926535897931, XAxis );

    // Test Rotation quaternion methods.
    test = test && testQuaternion( 0.5, 0.1, 0.2,  0.3 );
    test = test && testQuaternion(-0.5, 0.1, 0.2, -0.3 );

    Quaternion unnorm(Vec4(1,2,3,4), true); // don't do this at home
    SimTK_TEST_NOTEQ(unnorm.norm(), Real(1)); // shouldn't have normalized
    Quaternion fixedUp;
    fixedUp = unnorm.normalize();
    SimTK_TEST_EQ(fixedUp.norm(), Real(1));
    unnorm.normalizeThis();
    SimTK_TEST_EQ(unnorm.norm(), Real(1));


    // Test construction of nearby orthogonal rotation matrix from a generic Mat33.
    Rotation nearbyRotation( testRotation.asMat33() );
    test = test && nearbyRotation.areAllRotationElementsSameToMachinePrecision( testRotation );

    // Exhaustive test of 1-angle, 2-angle, and 3-angle rotations
    test = test && exhaustiveTestof1AngleRotation();
    test = test && exhaustiveTestof2AngleRotation();
    test = test && exhaustiveTestof3AngleRotation();

    // Exhaustive test of 3-angle rotations near singularity
    test = test && exhaustiveTestof3AngleTwoAxesRotationNearSingularity();
    test = test && exhaustiveTestof3AngleThreeAxesRotationNearSingularity();

    // Exhaustive test of Quaterions
    test = test && exhaustiveTestofQuaternions();

    // Test special handling of body-fixed XYZ.
    test = test && testSetRotationToBodyFixedXYZ();

    // Test out special code for rotating symmetric matrices.
    test = test && testReexpressSymMat33();

    return test;
}
开发者ID:BrianZ1，项目名称:simbody，代码行数:101，代码来源:RotationTest.cpp


注：本文中的Rotation::asMat33方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。