vpQuaternionVector Class Reference

Defines a quaternion and its basic operations. More...

#include <vpQuaternionVector.h>

List of all members.

Public Member Functions
void	buildFrom (const vpRotationMatrix &R)
vpQuaternionVector	operator* (vpQuaternionVector &rq)
	Multiply two quaternions.
vpQuaternionVector	operator* (const double l)
	Multiplication by scalar. Returns a quaternion defined by (lx,ly,lz,lw).
vpQuaternionVector	operator+ (vpQuaternionVector &q)
vpQuaternionVector	operator- ()
	Negate operator. Returns a quaternion defined by (-x,-y,-z-,-w).
vpQuaternionVector	operator- (vpQuaternionVector &q)
vpQuaternionVector &	operator= (vpQuaternionVector &q)
	Copy operator. Allow operation such as Q = q.
void	set (const double x, const double y, const double z, const double w)
unsigned int	size ()
	vpQuaternionVector (const vpRotationMatrix &R)
	vpQuaternionVector (const vpQuaternionVector &q)
	vpQuaternionVector (const double x, const double y, const double z, const double w)
	Constructor from doubles.
	vpQuaternionVector ()
double	w () const
	returns w-component of the quaternion
double	x () const
	returns x-component of the quaternion
double	y () const
	returns y-component of the quaternion
double	z () const
	returns z-component of the quaternion
Private Attributes
double	r [4]
Static Private Attributes
static const double	minimum = 0.0001

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Detailed Description

Defines a quaternion and its basic operations.

This class allows to compute a quaternion from a rotation matrix using either vpQuaternionVector(const vpRotationMatrix &) contructor or buildFrom() method.

It also defines common operations on a quaternion such as:

• multiplication (scalar and quaternion)
• addition
• substraction.

Definition at line 77 of file vpQuaternionVector.h.

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Constructor & Destructor Documentation

vpQuaternionVector::vpQuaternionVector

(

)

Definition at line 57 of file vpQuaternionVector.cpp.

vpQuaternionVector::vpQuaternionVector	(	const double	x,
		const double	y,
		const double	z,
		const double	w
	)

Constructor from doubles.

Definition at line 60 of file vpQuaternionVector.cpp.

vpQuaternionVector::vpQuaternionVector

(

const vpQuaternionVector &

q

)

Copy constructor.

Parameters:

q,:

quaternion to construct from.

Definition at line 81 of file vpQuaternionVector.cpp.

vpQuaternionVector::vpQuaternionVector

(

const vpRotationMatrix &

R

)

Constructs a quaternion from a rotation matrix.

Parameters:

R,:

Matrix containing a rotation.

Definition at line 72 of file vpQuaternionVector.cpp.

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Member Function Documentation

void vpQuaternionVector::buildFrom

(

const vpRotationMatrix &

R

)

Constructs a quaternion from a rotation matrix.

Parameters:

R,:

Rotation matrix.

Definition at line 159 of file vpQuaternionVector.cpp.

vpQuaternionVector vpQuaternionVector::operator*

(

vpQuaternionVector &

rq

)

Multiply two quaternions.

Definition at line 140 of file vpQuaternionVector.cpp.

vpQuaternionVector vpQuaternionVector::operator*

(

const double

l

)

Multiplication by scalar. Returns a quaternion defined by (lx,ly,lz,lw).

Definition at line 134 of file vpQuaternionVector.cpp.

vpQuaternionVector vpQuaternionVector::operator+

(

vpQuaternionVector &

q

)

Quaternion addition.

Adds two quaternions. Addition is component-wise.

Parameters:

q,:

quaternion to add.

Definition at line 111 of file vpQuaternionVector.cpp.

vpQuaternionVector vpQuaternionVector::operator-

(

void

)

Negate operator. Returns a quaternion defined by (-x,-y,-z-,-w).

Definition at line 128 of file vpQuaternionVector.cpp.

vpQuaternionVector vpQuaternionVector::operator-

(

vpQuaternionVector &

q

)

Quaternion substraction.

Substracts a quaternion from another. Substraction is component-wise.

Parameters:

q,:

quaternion to substract.

Definition at line 122 of file vpQuaternionVector.cpp.

vpQuaternionVector & vpQuaternionVector::operator=

(

vpQuaternionVector &

q

)

Copy operator. Allow operation such as Q = q.

Definition at line 148 of file vpQuaternionVector.cpp.

void vpQuaternionVector::set	(	const double	x,
		const double	y,
		const double	z,
		const double	w
	)

Manually change values of a quaternion.

Parameters:

	x,:	x quaternion parameter.
	y,:	y quaternion parameter.
	z,:	z quaternion parameter.
	w,:	w quaternion parameter.

Definition at line 94 of file vpQuaternionVector.cpp.

unsigned int vpQuaternionVector::size

(

)

[inline]

Definition at line 92 of file vpQuaternionVector.h.

double vpQuaternionVector::w

(

)

const [inline]

returns w-component of the quaternion

Definition at line 100 of file vpQuaternionVector.h.

double vpQuaternionVector::x

(

)

const [inline]

returns x-component of the quaternion

Definition at line 94 of file vpQuaternionVector.h.

double vpQuaternionVector::y

(

)

const [inline]

returns y-component of the quaternion

Definition at line 96 of file vpQuaternionVector.h.

double vpQuaternionVector::z

(

)

const [inline]

returns z-component of the quaternion

Definition at line 98 of file vpQuaternionVector.h.

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Member Data Documentation

const double vpQuaternionVector::minimum = 0.0001 [static, private]

Definition at line 80 of file vpQuaternionVector.h.

double vpQuaternionVector::r[4] [private]

Definition at line 81 of file vpQuaternionVector.h.

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

• vpQuaternionVector.h
• vpQuaternionVector.cpp