Utility

Functions
void	align (const int n, const double *v, const int m, const double *old, const double *new, double *valigned)
	Rotates vectors such that a set of mutually orthogonal unit vectors aligns with another set of mutually orthogoanl unit vectors.
bool	mat_is_rotmat (const double *mat)
	Checks whether a 2D array is a rotation matrix.

Detailed Description

Function Documentation

align()

void align	(	const int	n,
		const double *	v,
		const int	m,
		const double *	old,
		const double *	new,
		double *	valigned )

Rotates vectors such that a set of mutually orthogonal unit vectors aligns with another set of mutually orthogoanl unit vectors.

The vectors v are rotated using a rotation matrix that, when applied to the unit vectors old, aligns them in the direction of the unit vectors new.

Parameters

[in]	n	Number of rows of v.
[in]	v	A n x 3 array whose rows are the vectors to align.
[in]	m	Number of rows of old, same as the number of rows of new.
[in]	old	A m x 3 array, where m is at most 3. The rows of old form a set of mutually orthogonal unit vectors.
[in]	new	A m x 3 array, where m is at most 3. The rows of new form a set of mutually orthogonal unit vectors. The angles between the vectors must be the same as those of old.
[out]	valigned	A n x 3 array whose rows are the aligned vectors.

mat_is_rotmat()

bool mat_is_rotmat

(

const double *

mat

)

Checks whether a 2D array is a rotation matrix.

Parameters

[in]

mat

A 3x3 array.

Returns

true if mat is a rotation matrix, false otherwise.