Public Member Functions | Public Attributes | List of all members
AISNavigation::Quaternion< T > Struct Template Reference

#include <transformation3.hh>

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 Mon Dec 14 2020 03:37:08