matrix-classes {orientlib}

Matrix orientation classes

Description

An orientation represented by 3 x 3 SO(3) matrices or 3 x 3 skew symmetric matrices

Objects from the Class

Objects can be created by calls of the form rotmatrix(x) or skewmatrix(x). The objects store the matrices in a 3 x 3 x n array.

Slots

x:

3 x 3 x n array holding the matrices.

Extends

Class "orientation", directly. Class "vector", by class "orientation".

Methods

[, [<-

Extract or assign to subvector

[[, [[<-

Extract or assign to an entry

length

The length of the orientation vector

coerce

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

Author(s)

Duncan Murdoch

See Also

orientation-class, vector-classes, rotmatrix, skewmatrix

Examples

x <- rotmatrix(matrix(c(1,0,0, 0,1,0, 0,0,1), 3, 3))
x
skewmatrix(x)