Base classes

• public Matrix< T, N >

Derived classes

• vtb::geometry::Rotation_matrix< T, 3 >
• vtb::geometry::Rotation_matrix< T, N >

Methods

• clear() -> void
• template <class ... Args>
column_basis(Args ... cols) const -> Basis< T, N >
• column(int n) const -> column_type
• row(int n) const -> column_type
• operator=(const array_type & rhs) -> Basis &
• Basis(const array_type & rhs)
• Basis(const matrix_type & rhs)
• Basis()

Return rotation matrix specified by Euler angles. Rotation matrix is computed as the product of rotation matrices for each dimension. For Euler angles $(\phi,\theta,\psi)$ the matrix is written as $$\mathcal{T} = \left[ \begin{array}{ccc} \cos\theta \cos\psi & \cos\theta \sin\psi & -\sin\theta \\ \cos\psi \sin\theta \sin\phi-\cos\phi \sin\psi & \cos\phi \cos\psi+\sin\theta \sin\phi \sin\psi & \cos\theta \sin\phi \\ \cos\phi \cos\psi \sin\theta+\sin\phi \sin\psi & \cos\phi \sin\theta \sin\psi -\cos\psi \sin\phi & \cos\theta \cos\phi \\ \end{array} \right] = \left[ \begin{array}{rrr} 1 & 0 & 0 \\ 0 & \cos\phi & \sin\phi \\ 0 & -\sin\phi & \cos\phi \\ \end{array} \right] \times \left[ \begin{array}{rrr} \cos\theta & 0 & -\sin\theta \\ 0 & 1 & 0 \\ \sin\theta & 0 & \cos\theta \\ \end{array} \right] \times \left[ \begin{array}{rrr} \cos\psi & \sin\psi & 0 \\ -\sin\psi & \cos\psi & 0 \\ 0 & 0 & 1 \\ \end{array} \right].$$