Public Member Functions | Public Attributes
AISNavigation::Quaternion< T > Struct Template Reference

#include <transformation3.hh>

List of all members.

Public Member Functions

angle () const
Vector3< T > axis () const
Quaternion< T > conjugated () const
Vector3< T > im () const
Quaternion< T > inverse () const
norm () const
Quaternion< T > normalized () const
 Quaternion ()
 Quaternion (const Vector3< T > &pose)
 Quaternion (const T _w, const T _x, const T _y, const T _z)
 Quaternion (const T _roll_x_phi, const T _pitch_y_theta, const T _yaw_z_psi)
 Quaternion (const Vector3< T > &axis, const T &angle)
re () const
Quaternion< T > rotatePoint (const Quaternion &p) const
Vector3< T > rotatePoint (const Vector3< T > &p) const
Quaternion< T > rotateThisAlong (const Vector3< T > &axis, const T alpha) const
Vector3< T > toAngles () const
Quaternion withRotation (const T alpha) const

Public Attributes

w
x
y
z

Detailed Description

template<class T>
struct AISNavigation::Quaternion< T >

A Quaternion can be used to either represent a rotational axis and a Rotation, or, the point which will be rotated

Definition at line 105 of file transformation3.hh.


Constructor & Destructor Documentation

template<class T>
AISNavigation::Quaternion< T >::Quaternion ( )

Default Constructor: w=x=y=z=0;

template<class T>
AISNavigation::Quaternion< T >::Quaternion ( const Vector3< T > &  pose)

The Quaternion representation of the point "pose"

template<class T>
AISNavigation::Quaternion< T >::Quaternion ( const T  _w,
const T  _x,
const T  _y,
const T  _z 
)

create a Quaternion by scalar w and the imaginery parts x,y, and z.

template<class T>
AISNavigation::Quaternion< T >::Quaternion ( const T  _roll_x_phi,
const T  _pitch_y_theta,
const T  _yaw_z_psi 
)

create a rotational Quaternion, roll along x-axis, pitch along y-axis and yaw along z-axis

template<class T>
AISNavigation::Quaternion< T >::Quaternion ( const Vector3< T > &  axis,
const T &  angle 
) [inline]

Member Function Documentation

template<class T>
T AISNavigation::Quaternion< T >::angle ( ) const [inline]
template<class T>
Vector3<T> AISNavigation::Quaternion< T >::axis ( ) const [inline]
template<class T>
Quaternion<T> AISNavigation::Quaternion< T >::conjugated ( ) const [inline]
Returns:
the conjugated version of this quaternion
template<class T>
Vector3<T> AISNavigation::Quaternion< T >::im ( ) const [inline]
Returns:
the imaginery part (== (x,y,z)) of this Quaternion
template<class T>
Quaternion<T> AISNavigation::Quaternion< T >::inverse ( ) const [inline]
Returns:
the inverse of this Quaternion
template<class T>
T AISNavigation::Quaternion< T >::norm ( ) const [inline]
Returns:
the norm of this Quaternion
template<class T>
Quaternion<T> AISNavigation::Quaternion< T >::normalized ( ) const [inline]
Returns:
this quaternion, but normalized
template<class T>
T AISNavigation::Quaternion< T >::re ( ) const [inline]
Returns:
the real part (==w) of this Quaternion
template<class T>
Quaternion<T> AISNavigation::Quaternion< T >::rotatePoint ( const Quaternion< T > &  p) const [inline]

if this Quaternion represents a rotational axis + rotation, use this function to rotate another point represented as a Quaternion p

Parameters:
pthe point to be rotated by <this>. Point is represented as a Quaternion
Returns:
rotated Point (represented as a Quaternion)
template<class T>
Vector3<T> AISNavigation::Quaternion< T >::rotatePoint ( const Vector3< T > &  p) const [inline]

if this Quaternion represents a rotational axis + rotation, use this function to rotate another point

Parameters:
pthe point to be rotated by <this>.
Returns:
rotated Point
template<class T>
Quaternion<T> AISNavigation::Quaternion< T >::rotateThisAlong ( const Vector3< T > &  axis,
const T  alpha 
) const [inline]

if this Quaternion represents a point, use this function to rotate the point along <axis> with angle <alpha>

Parameters:
axisthe rotational axis
alpharotational angle
template<class T>
Vector3<T> AISNavigation::Quaternion< T >::toAngles ( ) const [inline]

Given rotational axis x,y,z, get the rotation along these axis encoded in this Quaternion

Returns:
rotation along x,y,z axis encoded in <this> Quaternion
template<class T>
Quaternion AISNavigation::Quaternion< T >::withRotation ( const T  alpha) const [inline]

if this Quaternion represents a rotational axis, add a rotation of angle <alpha> along <this> axis to the Quaternion

Parameters:
alpharotational value
Returns:
this Quaternion with included information about the rotation along <this> axis

Member Data Documentation

template<class T>
T AISNavigation::Quaternion< T >::w

Definition at line 203 of file transformation3.hh.

template<class T>
T AISNavigation::Quaternion< T >::x

Definition at line 203 of file transformation3.hh.

template<class T>
T AISNavigation::Quaternion< T >::y

Definition at line 203 of file transformation3.hh.

template<class T>
T AISNavigation::Quaternion< T >::z

Definition at line 203 of file transformation3.hh.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Fri Aug 28 2015 12:51:43