AngleAxis.hpp

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#pragma once
 
#include "AstGlobal.h"
#include "AstMath/Vector.hpp"
#include "AstMath/Matrix.hpp"
#include "AstMath/AttitudeConvert.hpp"
 
AST_NAMESPACE_BEGIN
 
 
class AngleAxis
{
public:
    AngleAxis(){};
 
    AngleAxis(double angle, const Vector3d& axis)
    : axis_(axis), angle_(angle){}
 
    double angle() const { return angle_; }
    double& angle() { return angle_; }
 
    const Vector3d& axis() const { return axis_; }
    Vector3d& axis() { return axis_; }
 
 
public:
    AngleAxis inverse() const { return AngleAxis(-angle_, axis_); }
 
public:
 
    AngleAxis& fromRotationMatrix(const Matrix3d& mtx){
        aMatrixToAngleAxis(mtx, *this);
        return *this;
    }
 
    Matrix3d toRotationMatrix() const{
        Matrix3d mtx;
        aAngleAxisToMatrix(*this, mtx);
        return mtx;
    }
 
public:
    Vector3d axis_;     
    double angle_;      
};
 
 
 
 
 
AST_NAMESPACE_END