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Added convenience constructor for Rot3

release/4.3a0
Alex Cunningham 2011-02-16 13:34:36 +00:00
parent 7212d65d8c
commit ff0cb3eafb
1 changed files with 4 additions and 0 deletions
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gtsam/geometry/Rot3.h
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@ -78,6 +78,10 @@ namespace gtsam {
static Rot3 Ry(double t); static Rot3 Ry(double t);
static Rot3 Rz(double t); static Rot3 Rz(double t);
static Rot3 RzRyRx(double x, double y, double z); static Rot3 RzRyRx(double x, double y, double z);
inline static Rot3 RzRyRx(const Vector& xyz) {
assert(xyz.size() == 3);
return RzRyRx(xyz(0), xyz(1), xyz(2));
}
/** /**
* Tait-Bryan system from Spatial Reference Model (SRM) (x,y,z) = (roll,pitch,yaw) * Tait-Bryan system from Spatial Reference Model (SRM) (x,y,z) = (roll,pitch,yaw)