﻿ MEulerRotation Class Reference

# MEulerRotation Class Reference

MEulerRotation Class Reference Related help topics:

`#include <MEulerRotation.h>`

## Class Description

Euler Rotation Math.

This class provides methods for working with euler angle rotations. Euler angles are described by rotations in radians around the x, y, and z axes, and the order in which those rotations occur. Examples:

## Public Types

enum  RotationOrder {
kXYZ, kYZX, kZXY, kXZY,
kYXZ, kZYX
}
Valid rotaton orders. More...

## Public Member Functions

MEulerRotation ()
The default class constructor. More...

MEulerRotation (const MEulerRotation &src)
The copy constructor. More...

MEulerRotation (const MVector &v, RotationOrder ord=kXYZ)
Class constructor. More...

MEulerRotation (double xx, double yy, double zz, RotationOrder ord=kXYZ)
Class constructor. More...

~MEulerRotation ()
Class destructor.

MEulerRotationoperator= (const MEulerRotation &src)
The assignment operator. More...

MEulerRotationoperator= (const MQuaternion &q)
The assignment operator. More...

MEulerRotationoperator= (const MMatrix &m)
Convert the given 4X4 homogeneous rotation matrix to a euler rotation. More...

MEulerRotationoperator= (const MVector &v)
The assignment operator. More...

MEulerRotationsetValue (const MVector &v, RotationOrder ord=kXYZ)
Sets the euler rotation to the values contained in the vector and with the specified rotation order. More...

MEulerRotationsetValue (double xx, double yy, double zz, RotationOrder ord=kXYZ)
Sets the euler rotation to the x, y, and z rotation components with the specified rotation order. More...

MQuaternion asQuaternion () const
Converts an euler rotation to a quaternion. More...

MMatrix asMatrix () const
Converts an euler rotation to a rotation matrix. More...

MVector asVector () const
Converts an euler rotation to a vector. More...

double operator[] (unsigned int i) const
The index operator. More...

MEulerRotation operator+ (const MEulerRotation &other) const
The euler rotation addition operator. More...

MEulerRotationoperator+= (const MEulerRotation &other)
The in place euler rotation addition operator. More...

MEulerRotation operator- (const MEulerRotation &other) const
The euler rotation subtraction operator. More...

MEulerRotationoperator-= (const MEulerRotation &other)
The in place euler rotation subtraction operator. More...

MEulerRotation operator- () const
The unary minus operator. More...

MEulerRotation operator* (const MEulerRotation &other) const
The euler rotation multiplication operator. More...

MEulerRotation operator* (const MQuaternion &other) const
This quaternion multiplication operator. More...

MEulerRotation operator* (double other) const
This scalar multiplication operator. More...

MEulerRotationoperator*= (const MEulerRotation &other)
The in place euler rotation multiplication operator. More...

MEulerRotationoperator*= (const MQuaternion &other)
The in place quaternion multiplication operator. More...

MEulerRotationoperator*= (double other)
The in place scalar multiplication operator. More...

bool operator== (const MEulerRotation &other) const
The euler rotation equality operator. More...

bool operator!= (const MEulerRotation &other) const
The euler rotation inequality operator. More...

bool isEquivalent (const MEulerRotation &other, double tolerance=kEulerRotationEpsilon) const
This method returns true if this euler rotation is equivalent, within some given tolerance, to the other euler rotation. More...

bool isZero (double tolerance=kEulerRotationEpsilon) const
This method returns true if this euler rotation is zero, within some given tolerance. More...

MEulerRotationincrementalRotateBy (const MVector &axis, double angle)
Perform an incremental rotation by the specified axis and angle. More...

MEulerRotation inverse () const
Returns the inverse of this euler rotation. More...

MEulerRotationinvertIt ()
Performs an in place inversion of this euler rotation. More...

MEulerRotation reorder (RotationOrder ord) const
Returns the reordering of this euler rotation, such that the euler rotation will have the specified rotation order. More...

MEulerRotationreorderIt (RotationOrder ord)
Performs an in place reordering of this euler rotation, such that the euler rotation will have the specified rotation order. More...

MEulerRotation bound () const
Returns the result of bounding this rotation to be within +/- PI. More...

MEulerRotationboundIt (const MEulerRotation &src)
Sets this euler rotation to be the input rotation that has been bound to be within +/- PI. More...

MEulerRotationboundIt ()
Bounds this rotation to be within +/- PI. More...

MEulerRotation alternateSolution () const
Returns an alternate solution to this rotation. More...

MEulerRotationsetToAlternateSolution (const MEulerRotation &src)
Sets this euler rotation to an alternate solution of the input rotation. More...

MEulerRotationsetToAlternateSolution ()
Sets this euler rotation to an alternate solution of this rotation. More...

MEulerRotation closestSolution (const MEulerRotation &dst) const
Returns the euler rotation that is the closest solution to the "dst" euler rotation. More...

MEulerRotationsetToClosestSolution (const MEulerRotation &src, const MEulerRotation &dst)
Sets this euler rotation to the euler rotation that is the closest solution of the "src" euler rotation to the "dst" euler rotation. More...

MEulerRotationsetToClosestSolution (const MEulerRotation &dst)
Sets this euler rotation to the euler rotation that is the closest solution to the "dst" euler rotation. More...

MEulerRotation closestCut (const MEulerRotation &dst) const
Returns the closest cut of this rotation to "dst". More...

MEulerRotationsetToClosestCut (const MEulerRotation &src, const MEulerRotation &dst)
Sets this rotation to be the closest cut of "src" to "dst". More...

MEulerRotationsetToClosestCut (const MEulerRotation &dst)
Sets this rotation to be the closest cut to "dst". More...

double & operator[] (unsigned int i)
NO SCRIPT SUPPORT. More...

## Static Public Member Functions

static MEulerRotation decompose (const MMatrix &matrix, RotationOrder ord)
Decompose a rotation matrix into the desired euler angles with the specified order. More...

static MEulerRotation bound (const MEulerRotation &src)
NO SCRIPT SUPPORT. More...

static MEulerRotation alternateSolution (const MEulerRotation &src)
NO SCRIPT SUPPORT. More...

static MEulerRotation closestSolution (const MEulerRotation &src, const MEulerRotation &dst)
NO SCRIPT SUPPORT. More...

static MEulerRotation closestCut (const MEulerRotation &src, const MEulerRotation &dst)
NO SCRIPT SUPPORT. More...

## Public Attributes

double x
The x component of the euler rotation in radians.

double y
The y component of the euler rotation in radians.

double z
The z component of the euler rotation in radians.

RotationOrder order
The rotation order of the euler rotation.

## Static Public Attributes

static const MEulerRotation identity
The euler rotation identity. The rotation order is XYZ.

## Friends

OPENMAYA_EXPORT MEulerRotation operator* (double scale, const MEulerRotation &other)
NO SCRIPT SUPPORT. More...

OPENMAYA_EXPORT std::ostream & operator<< (std::ostream &os, const MEulerRotation &rotation)
NO SCRIPT SUPPORT. More...

## Member Enumeration Documentation

 enum RotationOrder

Valid rotaton orders.

Enumerator
kXYZ

kYZX

kZXY

kXZY

kYXZ

kZYX

## Constructor & Destructor Documentation

 MEulerRotation ( )

The default class constructor.

The rotation order is set to XYZ.

 MEulerRotation ( const MEulerRotation & src )

The copy constructor.

Creates a new euler rotation and initializes it to the same values as the given euler rotation.

Parameters
 [in] src the euler rotation to copy
 MEulerRotation ( const MVector & v, MEulerRotation::RotationOrder ord = `kXYZ` )

Class constructor.

Construct an euler rotation from a vector with the given rotation order.

Parameters
 [in] v vector from which to set the x, y, and z rotation components [in] ord the rotation order; the default rotation order is XYZ
 MEulerRotation ( double xx, double yy, double zz, MEulerRotation::RotationOrder ord = `kXYZ` )

Class constructor.

Initializes the euler rotation with the explicit x, y, z, and rotation order values provided as arguments.

Parameters
 [in] xx the x component of the euler rotation [in] yy the y component of the euler rotation [in] zz the z component of the euler rotation [in] ord the rotation order of the euler rotation; the default rotation order is XYZ

## Member Function Documentation

 MEulerRotation & operator= ( const MEulerRotation & src )

The assignment operator.

Parameters
 [in] src the source euler rotation
Returns
A reference to the euler rotation that has been assigned to the source euler rotation
 MEulerRotation & operator= ( const MQuaternion & q )

The assignment operator.

Parameters
 [in] q the source quaternion
Returns
A reference to the euler rotation that has been assigned to the quaternion
 MEulerRotation & operator= ( const MMatrix & m )

Convert the given 4X4 homogeneous rotation matrix to a euler rotation.

Parameters
 [in] m the matrix to be converted to a euler rotation
Returns
A reference to the euler rotation that has been converted from the rotation matrix
 MEulerRotation & operator= ( const MVector & v )

The assignment operator.

Parameters
 [in] v the source vector from which the x, y, and z rotation components are set
Returns
A reference to the euler rotation that has been assigned to the source vector
 MEulerRotation & setValue ( const MVector & v, MEulerRotation::RotationOrder ord = `kXYZ` )

Sets the euler rotation to the values contained in the vector and with the specified rotation order.

Parameters
 [in] v vector from which to set the x, y, and z rotation components [in] ord the rotation order; the default rotation order is XYZ
Returns
A reference to the euler rotation whose value has been set
 MEulerRotation & setValue ( double xx, double yy, double zz, MEulerRotation::RotationOrder ord = `kXYZ` )

Sets the euler rotation to the x, y, and z rotation components with the specified rotation order.

Parameters
 [in] xx the x component of the rotation [in] yy the y component of the rotation [in] zz the z component of the rotation [in] ord the rotation order; the default rotation order is XYZ
Returns
A reference to the euler rotation whose value has been set
 MQuaternion asQuaternion ( ) const

Converts an euler rotation to a quaternion.

Returns
The quaternion that has been casted from the euler rotation
 MMatrix asMatrix ( ) const

Converts an euler rotation to a rotation matrix.

Returns
The rotation matrix that has been casted from the euler rotation
 MVector asVector ( ) const

Converts an euler rotation to a vector.

The rotation order component is dropped.

Returns
The vector that has been casted from the euler rotation Examples:
 double operator[] ( unsigned int i ) const

The index operator.

If its argument is 0 it will return the x component of the euler rotation. If its argument is 1 it will return the y component of the euler rotation. If its argument is 2 it will return the z component of the euler rotation.

Parameters
 [in] i value indicating which component to return
Returns
The component of the euler rotation corresponding to the index
 MEulerRotation operator+ ( const MEulerRotation & other ) const

Parameters
 [in] other the euler rotation to be added to this euler rotation
Returns
The sum of the two euler rotations
 MEulerRotation & operator+= ( const MEulerRotation & other )

The in place euler rotation addition operator.

Parameters
 [in] other the euler rotation to be added with this euler rotation
Returns
A reference the euler rotation which has been added to the other euler rotation
 MEulerRotation operator- ( const MEulerRotation & other ) const

The euler rotation subtraction operator.

Parameters
 [in] other the euler rotation to be subtracted from this euler rotation
Returns
The euler rotation that results from the subtraction
 MEulerRotation & operator-= ( const MEulerRotation & other )

The in place euler rotation subtraction operator.

Parameters
 [in] other the euler rotation to be subtracted from this euler rotation
Returns
A reference the euler rotation which has had the other euler rotation subtracted from it
 MEulerRotation operator- ( ) const

The unary minus operator.

Negates the value of each of the x, y, and z components of the euler rotation. The order remains the same.

Returns
Euler rotation that results from the negation
 MEulerRotation operator* ( const MEulerRotation & other ) const

The euler rotation multiplication operator.

Parameters
 [in] other the euler rotation to be multiplied with this euler rotation
Returns
The product of the two euler rotations
 MEulerRotation operator* ( const MQuaternion & other ) const

This quaternion multiplication operator.

Parameters
 [in] other the quaternion to be multiplied with this euler rotation
Returns
The product of the euler rotation and the quaternion
 MEulerRotation operator* ( double other ) const

This scalar multiplication operator.

Parameters
 [in] other the scalar value to be multiplied with this euler rotation
Returns
The product of the euler rotation and the scalar value
 MEulerRotation & operator*= ( const MEulerRotation & other )

The in place euler rotation multiplication operator.

Parameters
 [in] other the euler rotation to be multiplied with this euler rotation
Returns
A reference to the euler rotation which has been multiplied with the other euler rotation
 MEulerRotation & operator*= ( const MQuaternion & other )

The in place quaternion multiplication operator.

Parameters
 [in] other the quaternion to be multiplied with this euler rotation
Returns
A reference to the euler rotation which has been multiplied with the quaternion
 MEulerRotation & operator*= ( double other )

The in place scalar multiplication operator.

Parameters
 [in] other the double to be multiplied with this euler rotation
Returns
A reference to the euler rotation which has been multiplied with the double
 bool operator== ( const MEulerRotation & other ) const

The euler rotation equality operator.

Parameters
 [in] other the euler rotation to be compared with this euler rotation
Returns
• true the euler rotations are identical
• false the euler rotations are not identical
 bool operator!= ( const MEulerRotation & other ) const

The euler rotation inequality operator.

Parameters
 [in] other the euler rotation to be compared with this euler rotation
Returns
• true the euler rotations are not identical
• false the euler rotations are identical
 bool isEquivalent ( const MEulerRotation & other, double tolerance = `kEulerRotationEpsilon` ) const

This method returns true if this euler rotation is equivalent, within some given tolerance, to the other euler rotation.

'tolerance' defaults to kEulerRotationEpsilon which is 1.0e-10

Parameters
 [in] other the euler rotation to be compared with this euler rotation [in] tolerance the amount of variation allowed for equivalency
Returns
• true the euler rotations are equivalent
• false the euler rotations are not equivalent
 bool isZero ( double tolerance = `kEulerRotationEpsilon` ) const

This method returns true if this euler rotation is zero, within some given tolerance.

'tolerance' defaults to kEulerRotationEpsilon which is 1.0e-10

Parameters
 [in] tolerance the amount of variation allowed for equivalency to zero
Returns
• true the rotation is zero
• false the rotation is not zero
 MEulerRotation & incrementalRotateBy ( const MVector & axis, double angle )

Perform an incremental rotation by the specified axis and angle.

The rotation is broken down and performed in smaller steps so that the angles update properly.

Parameters
 [in] axis the axis to rotate around [in] angle the angle by which to rotate around the axis
Returns
A reference to the euler rotation that has been incrementally rotated
 MEulerRotation inverse ( ) const

Returns the inverse of this euler rotation.

The rotation order will be reversed.

Returns
Euler rotation that is the inverse of this euler rotation
 MEulerRotation & invertIt ( )

Performs an in place inversion of this euler rotation.

The rotation order will be reversed.

Returns
A reference to the euler rotation that has been inverted
 MEulerRotation reorder ( MEulerRotation::RotationOrder ord ) const

Returns the reordering of this euler rotation, such that the euler rotation will have the specified rotation order.

Parameters
 [in] ord the new rotation order of the euler rotation
Returns
Euler rotation that is the reordering of this euler rotation
 MEulerRotation & reorderIt ( MEulerRotation::RotationOrder ord )

Performs an in place reordering of this euler rotation, such that the euler rotation will have the specified rotation order.

Parameters
 [in] ord the new rotation order of the euler rotation
Returns
A reference to the euler rotation that has been reordered
 MEulerRotation bound ( ) const

Returns the result of bounding this rotation to be within +/- PI.

Bounding a rotation to be within +/- PI is defined to be the result of offsetting the rotation by +/- 2nPI (term by term) such that the offset is within +/- PI.

Returns
The euler rotation that results from bounding this euler rotation
 MEulerRotation & boundIt ( const MEulerRotation & src )

Sets this euler rotation to be the input rotation that has been bound to be within +/- PI.

Bounding a rotation to be within +/- PI is defined to be the result of offsetting the rotation by +/- 2nPI (term by term) such that the offset is within +/- PI.

Parameters
 [in] src the input rotation that will be bound
Returns
A reference to the euler rotation that has been set to the bound input rotation
 MEulerRotation & boundIt ( )

Bounds this rotation to be within +/- PI.

Bounding a rotation to be within +/- PI is defined to be the result of offsetting the rotation by +/- 2nPI (term by term) such that the offset is within +/- PI.

Returns
A reference to the euler rotation that has been bound
 MEulerRotation alternateSolution ( ) const

Returns an alternate solution to this rotation.

The resulting rotation will be bound between +/- PI, and the rotation order will remain unchanged.

Returns
An alternate solution to this rotation
 MEulerRotation & setToAlternateSolution ( const MEulerRotation & src )

Sets this euler rotation to an alternate solution of the input rotation.

The resulting rotation will be bound between +/- PI, and the rotation order will remain unchanged.

Parameters
 [in] src the rotation to compute an alternate solution to
Returns
A reference to the euler rotation that has been set to an alternate solution
 MEulerRotation & setToAlternateSolution ( )

Sets this euler rotation to an alternate solution of this rotation.

The resulting rotation will be bound between +/- PI, and the rotation order will remain unchanged.

Returns
A reference to the euler rotation that has been set to an alternate solution
 MEulerRotation closestSolution ( const MEulerRotation & dst ) const

Returns the euler rotation that is the closest solution to the "dst" euler rotation.

Parameters
 [in] dst the euler rotation to which the solution should be closest
Returns
The closest solution to the "dst" rotation
 MEulerRotation & setToClosestSolution ( const MEulerRotation & src, const MEulerRotation & dst )

Sets this euler rotation to the euler rotation that is the closest solution of the "src" euler rotation to the "dst" euler rotation.

Parameters
 [in] src the euler rotation whose closest solution will be calculated [in] dst the euler rotation to which the solution should be closest
Returns
A reference to the euler rotation that has been set to the closest solution
 MEulerRotation & setToClosestSolution ( const MEulerRotation & dst )

Sets this euler rotation to the euler rotation that is the closest solution to the "dst" euler rotation.

Parameters
 [in] dst the euler rotation to which the solution should be closest
Returns
A reference to the euler rotation that has been set to the closest solution
 MEulerRotation closestCut ( const MEulerRotation & dst ) const

Returns the closest cut of this rotation to "dst".

The closest cut of rotation A to rotation B is defined to be the rotation that is +/- 2nPI to rotation A (term by term) and within +/- PI to rotation B.

Parameters
 [in] dst the range of the closest cut
Returns
The closest cut of this rotation
 MEulerRotation & setToClosestCut ( const MEulerRotation & src, const MEulerRotation & dst )

Sets this rotation to be the closest cut of "src" to "dst".

The closest cut of rotation A to rotation B is defined to be the rotation that is +/- 2nPI to rotation A (term by term) and within +/- PI to rotation B.

Parameters
 [in] src the euler rotation whose terms will be offset by +/- 2nPI [in] dst the range of the closest cut
Returns
A reference to the euler rotation that has been set to the closest cut
 MEulerRotation & setToClosestCut ( const MEulerRotation & dst )

Sets this rotation to be the closest cut to "dst".

The closest cut of rotation A to rotation B is defined to be the rotation that is +/- 2nPI to rotation A (term by term) and within +/- PI to rotation B.

Parameters
 [in] dst the range of the closest cut
Returns
A reference to the euler rotation that has been set to the closest cut
 MEulerRotation decompose ( const MMatrix & matrix, MEulerRotation::RotationOrder ord )
static

Decompose a rotation matrix into the desired euler angles with the specified order.

Parameters
 [in] matrix the matrix that will be decomposed into an euler rotation with the specified order [in] ord the order which the euler rotation will have
Returns
The euler rotation that has been decomposed from the rotation matrix
 double & operator[] ( unsigned int i )

NO SCRIPT SUPPORT.

The index operator.

If its argument is 0 it will return the x component of the euler rotation. If its argument is 1 it will return the y component of the euler rotation. If its argument is 2 it will return the z component of the euler rotation.

Parameters
 [in] i value indicating which component to return
Returns
A reference to the component of the euler rotation corresponding to the index
 MEulerRotation bound ( const MEulerRotation & src )
static

NO SCRIPT SUPPORT.

Returns the euler rotation that bounds the input rotation to be within +/- PI.

Bounding a rotation to be within +/- PI is defined to be the result of offsetting the rotation by +/- 2nPI (term by term) such that the offset is within +/- PI.

Parameters
 [in] src the input rotation
Returns
The euler rotation that bounds the input rotation
 MEulerRotation alternateSolution ( const MEulerRotation & src )
static

NO SCRIPT SUPPORT.

Returns the euler rotation that is an alternate solution of the input rotation.

The resulting rotation will be bound between +/- PI, and the rotation order will remain unchanged.

Parameters
 [in] src the rotation to compute an alternate solution to
Returns
The alternate solution to the input rotation
 MEulerRotation closestSolution ( const MEulerRotation & src, const MEulerRotation & dst )
static

NO SCRIPT SUPPORT.

Returns the euler rotation that is the closest solution of the "src" euler rotation to the "dst" euler rotation.

Parameters
 [in] src the euler rotation whose closest solution will be calculated [in] dst the euler rotation to which the solution should be closest
Returns
The closest solution of "src" to "dst"
 MEulerRotation closestCut ( const MEulerRotation & src, const MEulerRotation & dst )
static

NO SCRIPT SUPPORT.

Returns the euler rotation that is the closest cut of "src" to "dst".

The closest cut of rotation A to rotation B is defined to be the rotation that is +/- 2nPI to rotation A (term by term) and within +/- PI to rotation B.

Parameters
 [in] src the euler rotation whose terms will be offset by +/- 2nPI [in] dst the range of the closest cut
Returns
The closest cut of "src" to "dst"

## Friends And Related Function Documentation

 OPENMAYA_EXPORT MEulerRotation operator* ( double scale, const MEulerRotation & other )
friend

NO SCRIPT SUPPORT.

Parameters
 [in] scale the amount by which the euler rotation should be scaled [in] other the euler rotation to which the scale should be applied
Returns
Euler rotation that is the result of scaling the other euler rotation
 OPENMAYA_EXPORT std::ostream& operator<< ( std::ostream & os, const MEulerRotation & rotation )
friend

NO SCRIPT SUPPORT.

The format used is [order: order, x: x, y: y, z: z], where x, y, and z are in degrees.

Parameters
 [in] os the ostream to print to [in] rotation the euler rotation to be printed x
Returns
The ostream reference, os, provided as the first parameter.

The documentation for this class was generated from the following files:
• MEulerRotation.h
• MEulerRotation.cpp