---
title: "SymmetrySettings< SYMMETRY_TYPE::ROTATION >"
product: "LumiScan VGR"
component: "lumiscan-vgr"
version: "1.8.4"
display_version: "1.8.4.6"
latest_version: true
language: "en"
url: "https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/symmetry-settings-symmetry-type-rotation.html"
---

# SymmetrySettings< SYMMETRY_TYPE::ROTATION > – LumiScan VGR

Define a rotation symmetry.

## Member Functions

- **`virtual SYMMETRY_TYPE type() const override`:** *JSON Type*: string +*Requirement*: Must be SYMMETRY_TYPE::ROTATION. Type of the symmetry.

## Member Variables

- **`center`:** `Eigen::Vector3f`, default: `\{Eigen::Vector3f::Zero()\}` *JSON Type*: array +*Requirement*: Must have three elements. Center of the rotation.

- **`axis`:** `Eigen::Vector3f`, default: `\{Eigen::Vector3f::UnitZ()\}` *JSON Type*: array +*Requirement*: Must have three elements. Norm must not be zero. Axis of the rotation.

- **`angleMinDeg`:** `float`, default: `\{0.0f\}` *JSON Type*: float +*Requirement*: Must be less or equal to angleMaxDeg. Minimum rotation angle around the rotation axis.

- **`angleMaxDeg`:** `float`, default: `\{360.0f\}` *JSON Type*: float +*Requirement*: Must be greater or equal to angleMinDeg. Maximum rotation angle around the rotation axis.

- **`angleStepDeg`:** `float`, default: `\{10.0f\}` *JSON Type*: float +*Requirement*: Must be greater than zero. Angle discretization stepsize.

- **`sortingRefDirInRobotBase`:** `Eigen::Vector3f`, default: `\{Eigen::Vector3f::UnitX()\}` Reference direction for sorting symmetric grip points. *JSON Type*: array

- **`sortedDirInTcp`:** `Eigen::Vector3f`, default: `\{Eigen::Vector3f::UnitX()\}` Direction use to sort, align with. It is represent Tcp coordinate at grip position. After sorting, the sortedDirInTcp with least angle toward sortingRefDirInRobotBase will has higher priority *JSON Type*: array

## Enumerations

**Table 1. SYMMETRY_TYPE**

| Value | Description |
| --- | --- |
| `ROTATION` | see [SymmetrySettings\<SYMMETRY_TYPE::ROTATION>](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/symmetry-settings-symmetry-type-rotation.html#) |