sophus.quaternion.Quaternion Class Reference

Public Member Functions
def	__add__ (self, right)
def	__eq__ (self, other)
def	__getitem__ (self, key)
def	__init__ (self, real, vec)
def	__mul__ (self, right)
def	__neg__ (self)
def	__repr__ (self)
def	__truediv__ (self, scalar)
def	conj (self)
def	inv (self)
def	simplify (self)
def	squared_norm (self)
def	subs (self, x, y)

Static Public Member Functions
def	Da_a_mul_b (a, b)
def	Db_a_mul_b (a, b)
def	identity ()
def	zero ()

Public Attributes
	real
	vec

Detailed Description

Quaternion class 

Definition at line 9 of file quaternion.py.

Constructor & Destructor Documentation

__init__()

def sophus.quaternion.Quaternion.__init__	(		self,
			real,
			vec
	)

Quaternion consists of a real scalar, and an imaginary 3-vector 

Definition at line 12 of file quaternion.py.

Member Function Documentation

__add__()

def sophus.quaternion.Quaternion.__add__	(		self,
			right
	)

quaternion multiplication 

Definition at line 25 of file quaternion.py.

__eq__()

def sophus.quaternion.Quaternion.__eq__	(		self,
			other
	)

Definition at line 75 of file quaternion.py.

__getitem__()

def sophus.quaternion.Quaternion.__getitem__	(		self,
			key
	)

We use the following convention [vec0, vec1, vec2, real] 

Definition at line 39 of file quaternion.py.

__mul__()

def sophus.quaternion.Quaternion.__mul__	(		self,
			right
	)

quaternion multiplication 

Definition at line 19 of file quaternion.py.

__neg__()

def sophus.quaternion.Quaternion.__neg__

(

self

)

Definition at line 29 of file quaternion.py.

__repr__()

def sophus.quaternion.Quaternion.__repr__

(

self

)

Definition at line 36 of file quaternion.py.

__truediv__()

def sophus.quaternion.Quaternion.__truediv__	(		self,
			scalar
	)

scalar division 

Definition at line 32 of file quaternion.py.

conj()

def sophus.quaternion.Quaternion.conj

(

self

)

quaternion conjugate 

Definition at line 51 of file quaternion.py.

Da_a_mul_b()

def sophus.quaternion.Quaternion.Da_a_mul_b (   a,   b  )

static

derivatice of quaternion muliplication wrt left multiplier a 

Definition at line 81 of file quaternion.py.

Db_a_mul_b()

def sophus.quaternion.Quaternion.Db_a_mul_b (   a,   b  )

static

derivatice of quaternion muliplication wrt right multiplicand b 

Definition at line 93 of file quaternion.py.

identity()

def sophus.quaternion.Quaternion.identity ( )

static

Definition at line 60 of file quaternion.py.

inv()

def sophus.quaternion.Quaternion.inv

(

self

)

quaternion inverse 

Definition at line 55 of file quaternion.py.

simplify()

def sophus.quaternion.Quaternion.simplify

(

self

)

Definition at line 70 of file quaternion.py.

squared_norm()

def sophus.quaternion.Quaternion.squared_norm

(

self

)

squared norm when considering the quaternion as 4-tuple 

Definition at line 47 of file quaternion.py.

subs()

def sophus.quaternion.Quaternion.subs	(		self,
			x,
			y
	)

Definition at line 67 of file quaternion.py.

zero()

def sophus.quaternion.Quaternion.zero ( )

static

Definition at line 64 of file quaternion.py.

Member Data Documentation

real

sophus.quaternion.Quaternion.real

Definition at line 16 of file quaternion.py.

vec

sophus.quaternion.Quaternion.vec

Definition at line 17 of file quaternion.py.

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

• quaternion.py