AISNavigation::Quaternion< T > Struct Template Reference

#include <transformation3.hh>

Public Member Functions
T	angle () const
Vector3< T >	axis () const
Quaternion< T >	conjugated () const
Vector3< T >	im () const
Quaternion< T >	inverse () const
T	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)
T	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
T	w
T	x
T	y
T	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

p	the 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

p	the 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

axis	the rotational axis
alpha	rotational 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

alpha

rotational 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.

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

• transformation3.hh