diff options
| -rw-r--r-- | Eigen/src/Geometry/AngleAxis.h | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h index a5484ba77..7fdb8ae83 100644 --- a/Eigen/src/Geometry/AngleAxis.h +++ b/Eigen/src/Geometry/AngleAxis.h @@ -85,10 +85,17 @@ public: template<typename Derived> inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; } + /** \returns the value of the rotation angle in radian */ Scalar angle() const { return m_angle; } + /** \returns a read-write reference to the stored angle in radian */ Scalar& angle() { return m_angle; } + /** \returns the rotation axis */ const Vector3& axis() const { return m_axis; } + /** \returns a read-write reference to the stored rotation axis. + * + * \warning The rotation axis must remain a \b unit vector. + */ Vector3& axis() { return m_axis; } /** Concatenates two rotations */ |