orientation-class {orientlib}

Class "orientation"

Description

Abstract class for vectors of various representations of SO(3) (orientation) objects.

Objects from the Class

A virtual Class: No objects may be created from it.

Methods

coerce

Methods are defined to coerce orientation objects to any concrete descendant class.

%*%

Matrix multiplication acts on orientation objects component by component, producing compositions of the rotations.

^

An orientation is raised to a power by multiplying its component rotation angles by that power.

t

The transpose of an orientation object is its component by component inverse.

mean

The mean of an orientation object is the nearest SO(3) matrix to the element-by-element mean of its 3 x 3 rotation matrix representation.

weighted.mean

The weighted mean, defined analogously to the mean.

Author(s)

Duncan Murdoch

See Also

matrix-classes, vector-classes

Examples

x <- rotmatrix(diag(3))
x
rotvector(x)
eulerzyx(x)
eulerzxz(x)
quaternion(x)