Re: [eigen] Euler-angles and partial reductions API design

[Benoît Jacob <jacob@xxxxxxxxxxxxxxx>]

On Saturday 19 July 2008 00:04:36 Gael Guennebaud wrote:
> So, if you think that:
>
> Matrix3f m2 = AngleAxis<float>(a1, Vector3f(1,0,0))
>              * AngleAxis<float>(a2, Vector3f(0,1,0))
>              * AngleAxis<float>(a3, Vector3f(0,0,1));
>
> is not verbose

one more remark,

if we drop EulerAngles then we can also drop the AngleAxis class in favor of 
just "rotation" functions, not classes. so the above snippet becomes

Matrix3f m2 = Matrix3f::rotation(a1, Vector3f(1,0,0))
              * Matrix3f::rotation(a2, Vector3f(0,1,0))
              * Matrix3f::rotation(a3, Vector3f(0,0,1));

I think that's nicer!

Cheers,
Benoit

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