Rotation class with the (3D) rotation represented by angles describing first a rotation of an angle phi (yaw) about the Z axis, followed by a rotation of an angle theta (pitch) about the new Y' axis, followed by a third rotation of an angle psi (roll) about the final X'' axis. This is sometimes referred to as the Euler 321 sequence. It has not to be confused with the typical Goldstein definition of the Euler Angles (Z-X-Z or 313 sequence) which is used by the ROOT::Math::EulerAngles class. @ingroup GenVector
static double | Pi() |
Constructor from phi, theta and psi
{Rectify();}
Construct given a pair of pointers or iterators defining the beginning and end of an array of three Scalars, to be treated as the angles phi, theta and psi.
{ SetComponents(begin,end); }
The compiler-generated copy ctor, copy assignment, and dtor are OK. Re-adjust components place angles in canonical ranges
Assign from another supported rotation type (see gv_detail::convert )
======== Components ============== Set the three Euler angles given a pair of pointers or iterators defining the beginning and end of an array of three Scalars.
Get the axis and then the angle into data specified by an iterator begin and another to the end of the desired data (4 past start).
Get the axis and then the angle into data specified by an iterator begin
Set the components phi, theta, psi based on three Scalars.
Multiplication of an axial rotation by an AxisAngle