octomath::Quaternion Class Reference

This class represents a Quaternion. More...

#include <Quaternion.h>

Public Member Functions
Quaternion	inv () const
	Inversion. More...
Quaternion &	inv_IP ()
	Inversion. More...
float	norm () const
Quaternion &	normalize ()
Quaternion	normalized () const
float &	operator() (unsigned int i)
const float &	operator() (unsigned int i) const
Quaternion	operator* (const Quaternion &other) const
	Quaternion multiplication. More...
Quaternion	operator* (const Vector3 &v) const
	Quaternion multiplication with extended vector. More...
void	operator/= (float x)
Quaternion &	operator= (const Quaternion &other)
bool	operator== (const Quaternion &other) const
	Quaternion ()
	Default constructor. More...
	Quaternion (const Quaternion &other)
	Copy constructor. More...
	Quaternion (const Vector3 &axis, double angle)
	Constructs a Unit Quaternion from a rotation angle and axis. More...
	Quaternion (const Vector3 &other)
	Constructor. More...
	Quaternion (double roll, double pitch, double yaw)
	Constructor from Euler angles. More...
	Quaternion (float u, float x, float y, float z)
	Constructor. More...
std::istream &	read (std::istream &s)
std::istream &	readBinary (std::istream &s)
Vector3	rotate (const Vector3 &v) const
	Rotate a vector. More...
Vector3	toEuler () const
	Conversion to Euler angles. More...
void	toRotMatrix (std::vector< double > &rot_matrix_3_3) const
float &	u ()
const float &	u () const
std::ostream &	write (std::ostream &s) const
std::ostream &	writeBinary (std::ostream &s) const
float &	x ()
const float &	x () const
float &	y ()
const float &	y () const
float &	z ()
const float &	z () const

Protected Attributes
float	data [4]

Friends
Quaternion	operator* (const Vector3 &v, const Quaternion &q)
	Quaternion multiplication with extended vector. More...

Detailed Description

This class represents a Quaternion.

The Unit Quaternion is one possible representation of the attitude of an object in tree-dimensional space.

This Quaternion class is implemented according to Diebel, James. Representing Attitude: Euler Angle, Unit Quaternions, and Rotation Vectors. Stanford University. 2006. - Technical Report.

Definition at line 56 of file Quaternion.h.

Constructor & Destructor Documentation

Quaternion() [1/6]

octomath::Quaternion::Quaternion ( )

inline

Default constructor.

Constructs the (1,0,0,0) Unit Quaternion representing the identity rotation.

Definition at line 66 of file Quaternion.h.

Quaternion() [2/6]

octomath::Quaternion::Quaternion

(

const Quaternion &

other

)

Copy constructor.

Definition at line 48 of file Quaternion.cpp.

Quaternion() [3/6]

octomath::Quaternion::Quaternion	(	float	u,
		float	x,
		float	y,
		float	z
	)

Constructor.

Constructs a Quaternion from four single values

Definition at line 55 of file Quaternion.cpp.

Quaternion() [4/6]

octomath::Quaternion::Quaternion

(

const Vector3 &

other

)

Constructor.

Parameters

other

a vector containing euler angles

Definition at line 62 of file Quaternion.cpp.

Quaternion() [5/6]

octomath::Quaternion::Quaternion	(	double	roll,
		double	pitch,
		double	yaw
	)

Constructor from Euler angles.

Constructs a Unit Quaternion from Euler angles / Tait Bryan angles (in radians) according to the 1-2-3 convention.

Parameters

roll	phi/roll angle (rotation about x-axis)
pitch	theta/pitch angle (rotation about y-axis)
yaw	psi/yaw angle (rotation about z-axis)

Definition at line 66 of file Quaternion.cpp.

Quaternion() [6/6]

octomath::Quaternion::Quaternion	(	const Vector3 &	axis,
		double	angle
	)

Constructs a Unit Quaternion from a rotation angle and axis.

Definition at line 90 of file Quaternion.cpp.

Member Function Documentation

inv()

Quaternion octomath::Quaternion::inv ( ) const

inline

Inversion.

Returns

A copy of this Quaterion inverted

Definition at line 156 of file Quaternion.h.

inv_IP()

Quaternion & octomath::Quaternion::inv_IP

(

)

Inversion.

Inverts this Quaternion

Returns

a reference to this Quaternion

Definition at line 248 of file Quaternion.cpp.

norm()

float octomath::Quaternion::norm

(

)

const

Definition at line 99 of file Quaternion.cpp.

normalize()

Quaternion & octomath::Quaternion::normalize

(

)

Definition at line 234 of file Quaternion.cpp.

normalized()

Quaternion octomath::Quaternion::normalized

(

)

const

Definition at line 241 of file Quaternion.cpp.

operator()() [1/2]

float& octomath::Quaternion::operator() ( unsigned int  i )

inline

Definition at line 117 of file Quaternion.h.

operator()() [2/2]

const float& octomath::Quaternion::operator() ( unsigned int  i ) const

inline

Definition at line 116 of file Quaternion.h.

operator*() [1/2]

Quaternion octomath::Quaternion::operator*

(

const Quaternion &

other

)

const

Quaternion multiplication.

Standard Quaternion multiplication which is not commutative.

Returns

this * other

Definition at line 219 of file Quaternion.cpp.

operator*() [2/2]

Quaternion octomath::Quaternion::operator*

(

const Vector3 &

v

)

const

Quaternion multiplication with extended vector.

Returns

q * (0, v)

Definition at line 226 of file Quaternion.cpp.

operator/=()

void octomath::Quaternion::operator/=

(

float

x

)

Definition at line 107 of file Quaternion.cpp.

operator=()

Quaternion & octomath::Quaternion::operator=

(

const Quaternion &

other

)

Definition at line 211 of file Quaternion.cpp.

operator==()

bool octomath::Quaternion::operator==

(

const Quaternion &

other

)

const

Definition at line 113 of file Quaternion.cpp.

read()

std::istream & octomath::Quaternion::read

(

std::istream &

s

)

Definition at line 261 of file Quaternion.cpp.

readBinary()

std::istream & octomath::Quaternion::readBinary

(

std::istream &

s

)

Definition at line 279 of file Quaternion.cpp.

rotate()

Vector3 octomath::Quaternion::rotate

(

const Vector3 &

v

)

const

Rotate a vector.

Rotates a vector to the body fixed coordinate system according to the attitude represented by this Quaternion.

Parameters

v	a vector represented in world coordinates

Returns

v represented in body-fixed coordinates

Definition at line 255 of file Quaternion.cpp.

toEuler()

Vector3 octomath::Quaternion::toEuler

(

)

const

Conversion to Euler angles.

Converts the attitude represented by this to Euler angles (roll, pitch, yaw).

Definition at line 124 of file Quaternion.cpp.

toRotMatrix()

void octomath::Quaternion::toRotMatrix

(

std::vector< double > &

rot_matrix_3_3

)

const

Definition at line 167 of file Quaternion.cpp.

u() [1/2]

float& octomath::Quaternion::u ( )

inline

Definition at line 178 of file Quaternion.h.

u() [2/2]

const float& octomath::Quaternion::u ( ) const

inline

Definition at line 183 of file Quaternion.h.

write()

std::ostream & octomath::Quaternion::write

(

std::ostream &

s

)

const

Definition at line 270 of file Quaternion.cpp.

writeBinary()

std::ostream & octomath::Quaternion::writeBinary

(

std::ostream &

s

)

const

Definition at line 291 of file Quaternion.cpp.

x() [1/2]

float& octomath::Quaternion::x ( )

inline

Definition at line 179 of file Quaternion.h.

x() [2/2]

const float& octomath::Quaternion::x ( ) const

inline

Definition at line 184 of file Quaternion.h.

y() [1/2]

float& octomath::Quaternion::y ( )

inline

Definition at line 180 of file Quaternion.h.

y() [2/2]

const float& octomath::Quaternion::y ( ) const

inline

Definition at line 185 of file Quaternion.h.

z() [1/2]

float& octomath::Quaternion::z ( )

inline

Definition at line 181 of file Quaternion.h.

z() [2/2]

const float& octomath::Quaternion::z ( ) const

inline

Definition at line 186 of file Quaternion.h.

Friends And Related Function Documentation

operator*

Quaternion operator* ( const Vector3 &  v, const Quaternion &  q  )

friend

Quaternion multiplication with extended vector.

Returns

(0, v) * q

Definition at line 230 of file Quaternion.cpp.

Member Data Documentation

data

float octomath::Quaternion::data[4]

protected

Definition at line 194 of file Quaternion.h.

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The documentation for this class was generated from the following files:

• Quaternion.h
• Quaternion.cpp