orientation-class | R Documentation |
Abstract class for vectors of various representations of SO(3) (orientation) objects.
A virtual Class: No objects may be created from it.
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.
The transpose of an orientation
object is its
component by component inverse.
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.
The weighted mean, defined analogously to the mean
.
Duncan Murdoch
matrix-classes
, vector-classes
x <- rotmatrix(diag(3)) x rotvector(x) eulerzyx(x) eulerzxz(x) quaternion(x)
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