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add AngleAxis::operator*(const Vector3&)

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This commit is contained in:
Benoit Jacob 2008-08-24 20:13:32 +00:00
parent 6b591d06c5
commit 6a36b5a6e0
1 changed files with 5 additions and 0 deletions
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5
Eigen/src/Geometry/AngleAxis.h
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@ -104,6 +104,11 @@ public:
operator* (const Matrix3& a, const AngleAxis& b) operator* (const Matrix3& a, const AngleAxis& b)
{ return a * b.toRotationMatrix(); } { return a * b.toRotationMatrix(); }
/** Applies rotation to vector */
inline typename ProductReturnType<Matrix3,Vector3>::Type
operator* (const Vector3& other) const
{ return toRotationMatrix() * other; }
/** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */ /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
AngleAxis inverse() const AngleAxis inverse() const
{ return AngleAxis(-m_angle, m_axis); } { return AngleAxis(-m_angle, m_axis); }