vector-classes | R Documentation |
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))
.
Objects of each class can be created by calls to the corresponding constructor
functions: eulerzyx
, eulerzxz
, rotvector
,
quaternion
, skewmatrix
and skewvector
.
x
:An n x m matrix
object holding the vector representations, where
m is 3, 4, or 9.
Class "orientation"
, directly.
Class "vector"
, by class "orientation".
Extract or assign to subvector
Extract or assign to an entry
The length of the orientation
vector
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
Duncan Murdoch
Constructor and coercion functions rotmatrix
, eulerzyx
, eulerzxz
, rotvector
,
quaternion
, and skewvector
.
Classes matrix-classes
, orientation-class
.
x <- eulerzyx(0,pi/4,0) x eulerzxz(x) rotmatrix(x) rotvector(x) quaternion(x) skewvector(x)
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