An vector of orientations, each represented by a vector of numbers.
Each of these types stores orientations as rows of a matrix in slot
eulerzyx class uses 3 Euler angles in the roll-pitch-yaw scheme
(rotation about Z axis, then Y axis, then X axis).
eulerzxz class uses 3 Euler angles in the X system scheme
(rotation about Z axis, then X axis, then Z axis again).
rotvector class uses the 9 components of a 3 x 3 rotation matrix, stored
in column-major order.
quaternion class uses the 4 components of a unit quaternion.
skewvector class uses the 3 non-zero components of a skew-symmetric matrix,
(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
An n x m
matrix object holding the vector representations, where
m is 3, 4, or 9.
"vector", by class "orientation".
Extract or assign to subvector
Extract or assign to an entry
The length of the
Coerce methods are defined to convert all
from one to another, and to coerce an appropriately shaped matrix or array to a
Constructor and coercion functions
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