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

#include <Quaternion.h>

Inheritance diagram for tf2::Quaternion:

[legend]

Public Member Functions
tf2Scalar	angle (const Quaternion &q) const
	Return the half angle between this quaternion and the other. More...

tf2Scalar	angleShortestPath (const Quaternion &q) const
	Return the angle between this quaternion and the other along the shortest path. More...

tf2Scalar	dot (const Quaternion &q) const
	Return the dot product between this quaternion and another. More...

TF2SIMD_FORCE_INLINE Quaternion	farthest (const Quaternion &qd) const

tf2Scalar	getAngle () const
	Return the angle [0, 2Pi] of rotation represented by this quaternion. More...

tf2Scalar	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...

TF2SIMD_FORCE_INLINE const tf2Scalar &	getW () const

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

tf2Scalar	length () const
	Return the length of the quaternion. More...

tf2Scalar	length2 () const
	Return the length squared of the quaternion. More...

TF2SIMD_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...

TF2SIMD_FORCE_INLINE Quaternion	operator* (const tf2Scalar &s) const
	Return a scaled version of this quaternion. More...

Quaternion &	operator*= (const tf2Scalar &s)
	Scale this quaternion. More...

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

TF2SIMD_FORCE_INLINE Quaternion	operator+ (const Quaternion &q2) const
	Return the sum of this quaternion and the other. More...

TF2SIMD_FORCE_INLINE Quaternion &	operator+= (const Quaternion &q)
	Add two quaternions. More...

TF2SIMD_FORCE_INLINE Quaternion	operator- (const Quaternion &q2) const
	Return the difference between this quaternion and the other. More...

TF2SIMD_FORCE_INLINE Quaternion	operator- () const
	Return the negative of this quaternion This simply negates each element. More...

Quaternion &	operator-= (const Quaternion &q)
	Sutf2ract out a quaternion. More...

Quaternion	operator/ (const tf2Scalar &s) const
	Return an inversely scaled versionof this quaternion. More...

Quaternion &	operator/= (const tf2Scalar &s)
	Inversely scale this quaternion. More...

	Quaternion ()
	No initialization constructor. More...

	Quaternion (const tf2Scalar &x, const tf2Scalar &y, const tf2Scalar &z, const tf2Scalar &w)
	Constructor from scalars. More...

	Quaternion (const Vector3 &axis, const tf2Scalar &angle)
	Axis angle Constructor. More...

ROS_DEPRECATED	Quaternion (const tf2Scalar &yaw, const tf2Scalar &pitch, const tf2Scalar &roll)
	Constructor from Euler angles. More...

void	setEuler (const tf2Scalar &yaw, const tf2Scalar &pitch, const tf2Scalar &roll)
	Set the quaternion using Euler angles. More...

ROS_DEPRECATED void	setEulerZYX (const tf2Scalar &yaw, const tf2Scalar &pitch, const tf2Scalar &roll)
	Set the quaternion using euler angles. More...

void	setRotation (const Vector3 &axis, const tf2Scalar &angle)
	Set the rotation using axis angle notation. More...

void	setRPY (const tf2Scalar &roll, const tf2Scalar &pitch, const tf2Scalar &yaw)
	Set the quaternion using fixed axis RPY. More...

Quaternion	slerp (const Quaternion &q, const tf2Scalar &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]

tf2::Quaternion::Quaternion ( )

inline

No initialization constructor.

Definition at line 33 of file Quaternion.h.

◆ Quaternion() [2/4]

tf2::Quaternion::Quaternion	(	const tf2Scalar &	x,
		const tf2Scalar &	y,
		const tf2Scalar &	z,
		const tf2Scalar &	w
	)

inline

Constructor from scalars.

Definition at line 38 of file Quaternion.h.

◆ Quaternion() [3/4]

tf2::Quaternion::Quaternion	(	const Vector3 &	axis,
		const tf2Scalar &	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 44 of file Quaternion.h.

◆ Quaternion() [4/4]

ROS_DEPRECATED tf2::Quaternion::Quaternion	(	const tf2Scalar &	yaw,
		const tf2Scalar &	pitch,
		const tf2Scalar &	roll
	)

inline

Constructor from Euler angles.

Parameters

yaw	Angle around Y unless TF2_EULER_DEFAULT_ZYX defined then Z
pitch	Angle around X unless TF2_EULER_DEFAULT_ZYX defined then Y
roll	Angle around Z unless TF2_EULER_DEFAULT_ZYX defined then X

Definition at line 52 of file Quaternion.h.

Member Function Documentation

◆ angle()

tf2Scalar tf2::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 212 of file Quaternion.h.

◆ angleShortestPath()

tf2Scalar tf2::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 220 of file Quaternion.h.

◆ dot()

tf2Scalar tf2::Quaternion::dot ( const Quaternion & q ) const

inline

Return the dot product between this quaternion and another.

Parameters

q	The other quaternion

Definition at line 156 of file Quaternion.h.

◆ farthest()

TF2SIMD_FORCE_INLINE Quaternion tf2::Quaternion::farthest ( const Quaternion & qd ) const

inline

Todo:: document this and it's use

Definition at line 290 of file Quaternion.h.

◆ getAngle()

tf2Scalar tf2::Quaternion::getAngle ( ) const

inline

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

Definition at line 230 of file Quaternion.h.

◆ getAngleShortestPath()

tf2Scalar tf2::Quaternion::getAngleShortestPath ( ) const

inline

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

Definition at line 237 of file Quaternion.h.

◆ getAxis()

Vector3 tf2::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& tf2::Quaternion::getIdentity ( )

inlinestatic

Definition at line 342 of file Quaternion.h.

◆ getW()

TF2SIMD_FORCE_INLINE const tf2Scalar& tf2::Quaternion::getW ( ) const

inline

Definition at line 348 of file Quaternion.h.

◆ inverse()

Quaternion tf2::Quaternion::inverse ( ) const

inline

Return the inverse of this quaternion.

Definition at line 259 of file Quaternion.h.

◆ length()

tf2Scalar tf2::Quaternion::length ( ) const

inline

Return the length of the quaternion.

Definition at line 168 of file Quaternion.h.

◆ length2()

tf2Scalar tf2::Quaternion::length2 ( ) const

inline

Return the length squared of the quaternion.

Definition at line 162 of file Quaternion.h.

◆ nearest()

TF2SIMD_FORCE_INLINE Quaternion tf2::Quaternion::nearest ( const Quaternion & qd ) const

inline

Todo:: document this and it's use

Definition at line 301 of file Quaternion.h.

◆ normalize()

Quaternion& tf2::Quaternion::normalize ( )

inline

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

Definition at line 175 of file Quaternion.h.

◆ normalized()

Quaternion tf2::Quaternion::normalized ( ) const

inline

Return a normalized version of this quaternion.

Definition at line 206 of file Quaternion.h.

◆ operator*()

TF2SIMD_FORCE_INLINE Quaternion tf2::Quaternion::operator* ( const tf2Scalar & s ) const

inline

Return a scaled version of this quaternion.

Parameters

s	The scale factor

Definition at line 183 of file Quaternion.h.

◆ operator*=() [1/2]

Quaternion& tf2::Quaternion::operator*= ( const tf2Scalar & s )

inline

Scale this quaternion.

Parameters

s	The scalar to scale by

Definition at line 137 of file Quaternion.h.

◆ operator*=() [2/2]

Quaternion& tf2::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 146 of file Quaternion.h.

◆ operator+()

TF2SIMD_FORCE_INLINE Quaternion tf2::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+=()

TF2SIMD_FORCE_INLINE Quaternion& tf2::Quaternion::operator+= ( const Quaternion & q )

inline

Add two quaternions.

Parameters

q	The quaternion to add to this one

Definition at line 121 of file Quaternion.h.

◆ operator-() [1/2]

TF2SIMD_FORCE_INLINE Quaternion tf2::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]

TF2SIMD_FORCE_INLINE Quaternion tf2::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& tf2::Quaternion::operator-= ( const Quaternion & q )

inline

Sutf2ract out a quaternion.

Parameters

q	The quaternion to sutf2ract from this one

Definition at line 129 of file Quaternion.h.

◆ operator/()

Quaternion tf2::Quaternion::operator/ ( const tf2Scalar & s ) const

inline

Return an inversely scaled versionof this quaternion.

Parameters

s	The inverse scale factor

Definition at line 191 of file Quaternion.h.

◆ operator/=()

Quaternion& tf2::Quaternion::operator/= ( const tf2Scalar & s )

inline

Inversely scale this quaternion.

Parameters

s	The scale factor

Definition at line 199 of file Quaternion.h.

◆ setEuler()

void tf2::Quaternion::setEuler	(	const tf2Scalar &	yaw,
		const tf2Scalar &	pitch,
		const tf2Scalar &	roll
	)

inline

Set the quaternion using Euler angles.

Parameters

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

Definition at line 75 of file Quaternion.h.

◆ setEulerZYX()

ROS_DEPRECATED void tf2::Quaternion::setEulerZYX	(	const tf2Scalar &	yaw,
		const tf2Scalar &	pitch,
		const tf2Scalar &	roll
	)

inline

Set the quaternion using euler angles.

Parameters

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

Definition at line 115 of file Quaternion.h.

◆ setRotation()

void tf2::Quaternion::setRotation	(	const Vector3 &	axis,
		const tf2Scalar &	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 63 of file Quaternion.h.

◆ setRPY()

void tf2::Quaternion::setRPY	(	const tf2Scalar &	roll,
		const tf2Scalar &	pitch,
		const tf2Scalar &	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 95 of file Quaternion.h.

◆ slerp()

Quaternion tf2::Quaternion::slerp	(	const Quaternion &	q,
		const tf2Scalar &	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()