The Quaternion implements quaternion to perform linear algebra rotations in combination with Matrix3x3, Vector3 and Transform. More...

#include <Quaternion.h>

Inheritance diagram for tf::Quaternion:

[legend]

Public Member Functions
tfScalar	angle (const Quaternion &q) const
	Return the half angle between this quaternion and the other. More...

tfScalar	angleShortestPath (const Quaternion &q) const
	Return the angle between this quaternion and the other along the shortest path. More...

tfScalar	dot (const Quaternion &q) const
	Return the dot product between this quaternion and another. More...

TFSIMD_FORCE_INLINE Quaternion	farthest (const Quaternion &qd) const

tfScalar	getAngle () const
	Return the angle [0, 2Pi] of rotation represented by this quaternion. More...

tfScalar	getAngleShortestPath () const
	Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path. More...

Vector3	getAxis () const
	Return the axis of the rotation represented by this quaternion. More...

TFSIMD_FORCE_INLINE const tfScalar &	getW () const

Quaternion	inverse () const
	Return the inverse of this quaternion. More...

tfScalar	length () const
	Return the length of the quaternion. More...

tfScalar	length2 () const
	Return the length squared of the quaternion. More...

TFSIMD_FORCE_INLINE Quaternion	nearest (const Quaternion &qd) const

Quaternion &	normalize ()
	Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1. More...

Quaternion	normalized () const
	Return a normalized version of this quaternion. More...

TFSIMD_FORCE_INLINE Quaternion	operator* (const tfScalar &s) const
	Return a scaled version of this quaternion. More...

Quaternion &	operator*= (const tfScalar &s)
	Scale this quaternion. More...

Quaternion &	operator*= (const Quaternion &q)
	Multiply this quaternion by q on the right. More...

TFSIMD_FORCE_INLINE Quaternion	operator+ (const Quaternion &q2) const
	Return the sum of this quaternion and the other. More...

TFSIMD_FORCE_INLINE Quaternion &	operator+= (const Quaternion &q)
	Add two quaternions. More...

TFSIMD_FORCE_INLINE Quaternion	operator- (const Quaternion &q2) const
	Return the difference between this quaternion and the other. More...

TFSIMD_FORCE_INLINE Quaternion	operator- () const
	Return the negative of this quaternion This simply negates each element. More...

Quaternion &	operator-= (const Quaternion &q)
	Sutfract out a quaternion. More...

Quaternion	operator/ (const tfScalar &s) const
	Return an inversely scaled versionof this quaternion. More...

Quaternion &	operator/= (const tfScalar &s)
	Inversely scale this quaternion. More...

	Quaternion ()
	No initialization constructor. More...

	Quaternion (const tfScalar &x, const tfScalar &y, const tfScalar &z, const tfScalar &w)
	Constructor from scalars. More...

	Quaternion (const Vector3 &axis, const tfScalar &angle)
	Axis angle Constructor. More...

ROS_DEPRECATED	Quaternion (const tfScalar &yaw, const tfScalar &pitch, const tfScalar &roll)
	Constructor from Euler angles. More...

void	setEuler (const tfScalar &yaw, const tfScalar &pitch, const tfScalar &roll)
	Set the quaternion using Euler angles. More...

ROS_DEPRECATED void	setEulerZYX (const tfScalar &yaw, const tfScalar &pitch, const tfScalar &roll)
	Set the quaternion using euler angles. More...

void	setRotation (const Vector3 &axis, const tfScalar &angle)
	Set the rotation using axis angle notation. More...

void	setRPY (const tfScalar &roll, const tfScalar &pitch, const tfScalar &yaw)
	Set the quaternion using fixed axis RPY. More...

Quaternion	slerp (const Quaternion &q, const tfScalar &t) const
	Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion. More...

Static Public Member Functions
static const Quaternion &	getIdentity ()

Detailed Description

The Quaternion implements quaternion to perform linear algebra rotations in combination with Matrix3x3, Vector3 and Transform.

Definition at line 30 of file Quaternion.h.

Constructor & Destructor Documentation

◆ Quaternion() [1/4]

tf::Quaternion::Quaternion ( )

inline

No initialization constructor.

Definition at line 33 of file Quaternion.h.

◆ Quaternion() [2/4]

tf::Quaternion::Quaternion	(	const tfScalar &	x,
		const tfScalar &	y,
		const tfScalar &	z,
		const tfScalar &	w
	)

inline

Constructor from scalars.

Definition at line 39 of file Quaternion.h.

◆ Quaternion() [3/4]

tf::Quaternion::Quaternion	(	const Vector3 &	axis,
		const tfScalar &	angle
	)

inline

Axis angle Constructor.

Parameters

axis	The axis which the rotation is around
angle	The magnitude of the rotation around the angle (Radians)

Definition at line 45 of file Quaternion.h.

◆ Quaternion() [4/4]

ROS_DEPRECATED tf::Quaternion::Quaternion	(	const tfScalar &	yaw,
		const tfScalar &	pitch,
		const tfScalar &	roll
	)

inline

Constructor from Euler angles.

Parameters

yaw	Angle around Y unless TF_EULER_DEFAULT_ZYX defined then Z
pitch	Angle around X unless TF_EULER_DEFAULT_ZYX defined then Y
roll	Angle around Z unless TF_EULER_DEFAULT_ZYX defined then X

Definition at line 53 of file Quaternion.h.

Member Function Documentation

◆ angle()

tfScalar tf::Quaternion::angle ( const Quaternion & q ) const

inline

Return the half angle between this quaternion and the other.

Parameters

q	The other quaternion

Definition at line 213 of file Quaternion.h.

◆ angleShortestPath()

tfScalar tf::Quaternion::angleShortestPath ( const Quaternion & q ) const

inline

Return the angle between this quaternion and the other along the shortest path.

Parameters

q	The other quaternion

Definition at line 221 of file Quaternion.h.

◆ dot()

tfScalar tf::Quaternion::dot ( const Quaternion & q ) const

inline

Return the dot product between this quaternion and another.

Parameters

q	The other quaternion

Definition at line 157 of file Quaternion.h.

◆ farthest()

TFSIMD_FORCE_INLINE Quaternion tf::Quaternion::farthest ( const Quaternion & qd ) const

inline

Todo:: document this and it's use

Definition at line 290 of file Quaternion.h.

◆ getAngle()

tfScalar tf::Quaternion::getAngle ( ) const

inline

Return the angle [0, 2Pi] of rotation represented by this quaternion.

Definition at line 231 of file Quaternion.h.

◆ getAngleShortestPath()

tfScalar tf::Quaternion::getAngleShortestPath ( ) const

inline

Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path.

Definition at line 238 of file Quaternion.h.

◆ getAxis()

Vector3 tf::Quaternion::getAxis ( ) const

inline

Return the axis of the rotation represented by this quaternion.

Definition at line 249 of file Quaternion.h.

◆ getIdentity()

static const Quaternion& tf::Quaternion::getIdentity ( )

inlinestatic

Definition at line 342 of file Quaternion.h.

◆ getW()

TFSIMD_FORCE_INLINE const tfScalar& tf::Quaternion::getW ( ) const

inline

Definition at line 348 of file Quaternion.h.

◆ inverse()

Quaternion tf::Quaternion::inverse ( ) const

inline

Return the inverse of this quaternion.

Definition at line 259 of file Quaternion.h.

◆ length()

tfScalar tf::Quaternion::length ( ) const

inline

Return the length of the quaternion.

Definition at line 169 of file Quaternion.h.

◆ length2()

tfScalar tf::Quaternion::length2 ( ) const

inline

Return the length squared of the quaternion.

Definition at line 163 of file Quaternion.h.

◆ nearest()

TFSIMD_FORCE_INLINE Quaternion tf::Quaternion::nearest ( const Quaternion & qd ) const

inline

Todo:: document this and it's use

Definition at line 301 of file Quaternion.h.

◆ normalize()

Quaternion& tf::Quaternion::normalize ( )

inline

Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.

Definition at line 176 of file Quaternion.h.

◆ normalized()

Quaternion tf::Quaternion::normalized ( ) const

inline

Return a normalized version of this quaternion.

Definition at line 207 of file Quaternion.h.

◆ operator*()

TFSIMD_FORCE_INLINE Quaternion tf::Quaternion::operator* ( const tfScalar & s ) const

inline

Return a scaled version of this quaternion.

Parameters

s	The scale factor

Definition at line 184 of file Quaternion.h.

◆ operator*=() [1/2]

Quaternion& tf::Quaternion::operator*= ( const tfScalar & s )

inline

Scale this quaternion.

Parameters

s	The scalar to scale by

Definition at line 138 of file Quaternion.h.

◆ operator*=() [2/2]

Quaternion& tf::Quaternion::operator*= ( const Quaternion & q )

inline

Multiply this quaternion by q on the right.

Parameters

q	The other quaternion Equivilant to this = this * q

Definition at line 147 of file Quaternion.h.

◆ operator+()

TFSIMD_FORCE_INLINE Quaternion tf::Quaternion::operator+ ( const Quaternion & q2 ) const

inline

Return the sum of this quaternion and the other.

Parameters

q2	The other quaternion

Definition at line 267 of file Quaternion.h.

◆ operator+=()

TFSIMD_FORCE_INLINE Quaternion& tf::Quaternion::operator+= ( const Quaternion & q )

inline

Add two quaternions.

Parameters

q	The quaternion to add to this one

Definition at line 122 of file Quaternion.h.

◆ operator-() [1/2]

TFSIMD_FORCE_INLINE Quaternion tf::Quaternion::operator- ( const Quaternion & q2 ) const

inline

Return the difference between this quaternion and the other.

Parameters

q2	The other quaternion

Definition at line 276 of file Quaternion.h.

◆ operator-() [2/2]

TFSIMD_FORCE_INLINE Quaternion tf::Quaternion::operator- ( ) const

inline

Return the negative of this quaternion This simply negates each element.

Definition at line 284 of file Quaternion.h.

◆ operator-=()

Quaternion& tf::Quaternion::operator-= ( const Quaternion & q )

inline

Sutfract out a quaternion.

Parameters

q	The quaternion to sutfract from this one

Definition at line 130 of file Quaternion.h.

◆ operator/()

Quaternion tf::Quaternion::operator/ ( const tfScalar & s ) const

inline

Return an inversely scaled versionof this quaternion.

Parameters

s	The inverse scale factor

Definition at line 192 of file Quaternion.h.

◆ operator/=()

Quaternion& tf::Quaternion::operator/= ( const tfScalar & s )

inline

Inversely scale this quaternion.

Parameters

s	The scale factor

Definition at line 200 of file Quaternion.h.

◆ setEuler()

void tf::Quaternion::setEuler	(	const tfScalar &	yaw,
		const tfScalar &	pitch,
		const tfScalar &	roll
	)

inline

Set the quaternion using Euler angles.

Parameters

yaw	Angle around Y
pitch	Angle around X
roll	Angle around Z

Definition at line 76 of file Quaternion.h.

◆ setEulerZYX()

ROS_DEPRECATED void tf::Quaternion::setEulerZYX	(	const tfScalar &	yaw,
		const tfScalar &	pitch,
		const tfScalar &	roll
	)

inline

Set the quaternion using euler angles.

Parameters

yaw	Angle around Z
pitch	Angle around Y
roll	Angle around X

Definition at line 116 of file Quaternion.h.

◆ setRotation()

void tf::Quaternion::setRotation	(	const Vector3 &	axis,
		const tfScalar &	angle
	)

inline

Set the rotation using axis angle notation.

Parameters

axis	The axis around which to rotate
angle	The magnitude of the rotation in Radians

Definition at line 64 of file Quaternion.h.

◆ setRPY()

void tf::Quaternion::setRPY	(	const tfScalar &	roll,
		const tfScalar &	pitch,
		const tfScalar &	yaw
	)

inline

Set the quaternion using fixed axis RPY.

Parameters

roll	Angle around X
pitch	Angle around Y
yaw	Angle around Z

Definition at line 96 of file Quaternion.h.

◆ slerp()

Quaternion tf::Quaternion::slerp	(	const Quaternion &	q,
		const tfScalar &	t
	)		const

inline

Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion.

Parameters

q	The other quaternion to interpolate with
t	The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. Slerp interpolates assuming constant velocity.

Definition at line 316 of file Quaternion.h.

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

Quaternion.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Quaternion() [1/4]

◆ Quaternion() [2/4]

◆ Quaternion() [3/4]

◆ Quaternion() [4/4]

Member Function Documentation

◆ angle()

◆ angleShortestPath()

◆ dot()

◆ farthest()

◆ getAngle()

◆ getAngleShortestPath()

◆ getAxis()

◆ getIdentity()

◆ getW()

◆ inverse()

◆ length()

◆ length2()

◆ nearest()

◆ normalize()

◆ normalized()

◆ operator*()

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ setEuler()

◆ setEulerZYX()

◆ setRotation()

◆ setRPY()

◆ slerp()