vpQuaternionVector.h
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1 /****************************************************************************
2  *
3  * $Id: vpQuaternionVector.h 3506 2011-11-29 19:29:31Z fspindle $
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5  * This file is part of the ViSP software.
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15  * GPL, please contact INRIA about acquiring a ViSP Professional
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20  * This software was developed at:
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31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Quaternion definition.
36  *
37  * Authors:
38  * Filip Novotny
39  *
40  *****************************************************************************/
41 
42 
43 
44 #ifndef __QUATERNIONVECTOR_H__
45 #define __QUATERNIONVECTOR_H__
46 
55 #include <visp/vpConfig.h>
56 
57 #if VISP_VERSION_INT <= (2<<16 | 6<<8 | 1)
58 
59 #include <visp/vpRotationMatrix.h>
60 #include <visp/vpColVector.h>
61 
62 
80 class VISP_EXPORT vpQuaternionVector : public vpColVector
81 {
82 private:
83  static const double minimum;
84  double r[4];
85 public:
86 
88  vpQuaternionVector(const double x, const double y, const double z,const double w) ;
90  vpQuaternionVector(const vpRotationMatrix &R);
91 
92  void buildFrom(const vpRotationMatrix& R);
93 
94  void set(const double x, const double y, const double z,const double w) ;
95  unsigned int size(){return 4;}
97  inline double x() const {return r[0];}
99  inline double y() const {return r[1];}
101  inline double z() const {return r[2];}
103  inline double w() const {return r[3];}
104 
105  vpQuaternionVector operator+( vpQuaternionVector &q) ;
106  vpQuaternionVector operator-( vpQuaternionVector &q) ;
107  vpQuaternionVector operator-() ;
108  vpQuaternionVector operator*(const double l) ;
109  vpQuaternionVector operator* ( vpQuaternionVector &rq) ;
110  vpQuaternionVector &operator=( vpQuaternionVector &q);
111 
112 
113 } ;
114 
115 #endif
116 #endif
117 
118 /*
119  * Local variables:
120  * c-basic-offset: 4
121  * End:
122  */
static const double minimum
double y() const
returns y-component of the quaternion
double w() const
returns w-component of the quaternion
double z() const
returns z-component of the quaternion
double x() const
returns x-component of the quaternion
Defines a quaternion and its basic operations.


visp_bridge
Author(s): Filip Novotny
autogenerated on Fri Nov 1 2019 03:27:20