vpQuaternionVector Class Reference

Defines a quaternion and its basic operations. More...

#include <vpQuaternionVector.h>

List of all members.

Public Member Functions
void	buildFrom (const vpRotationMatrix &R)
vpQuaternionVector	operator* (const double l)
	Multiplication by scalar. Returns a quaternion defined by (lx,ly,lz,lw).
vpQuaternionVector	operator* (vpQuaternionVector &rq)
	Multiply two quaternions.
vpQuaternionVector	operator+ (vpQuaternionVector &q)
vpQuaternionVector	operator- (vpQuaternionVector &q)
vpQuaternionVector	operator- ()
	Negate operator. Returns a quaternion defined by (-x,-y,-z-,-w).
vpQuaternionVector &	operator= (vpQuaternionVector &q)
	Copy operator. Allow operation such as Q = q.
void	set (const double x, const double y, const double z, const double w)
unsigned int	size ()
	vpQuaternionVector ()
	vpQuaternionVector (const double x, const double y, const double z, const double w)
	Constructor from doubles.
	vpQuaternionVector (const vpQuaternionVector &q)
	vpQuaternionVector (const vpRotationMatrix &R)
double	w () const
	returns w-component of the quaternion
double	x () const
	returns x-component of the quaternion
double	y () const
	returns y-component of the quaternion
double	z () const
	returns z-component of the quaternion
Private Attributes
double	r [4]
Static Private Attributes
static const double	minimum = 0.0001

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Detailed Description

Defines a quaternion and its basic operations.

This class allows to compute a quaternion from a rotation matrix using either vpQuaternionVector(const vpRotationMatrix &) contructor or buildFrom() method.

It also defines common operations on a quaternion such as:

• multiplication (scalar and quaternion)
• addition
• substraction.

Definition at line 77 of file vpQuaternionVector.h.

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Constructor & Destructor Documentation

vpQuaternionVector::vpQuaternionVector

(

)

Definition at line 57 of file vpQuaternionVector.cpp.

vpQuaternionVector::vpQuaternionVector	(	const double	x,
		const double	y,
		const double	z,
		const double	w
	)

Constructor from doubles.

Definition at line 60 of file vpQuaternionVector.cpp.

vpQuaternionVector::vpQuaternionVector

(

const vpQuaternionVector &

q

)

Copy constructor.

Parameters:

q,:	quaternion to construct from.

Definition at line 81 of file vpQuaternionVector.cpp.

vpQuaternionVector::vpQuaternionVector

(

const vpRotationMatrix &

R

)

Constructs a quaternion from a rotation matrix.

Parameters:

R,:	Matrix containing a rotation.

Definition at line 72 of file vpQuaternionVector.cpp.

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Member Function Documentation

void vpQuaternionVector::buildFrom

(

const vpRotationMatrix &

R

)

Constructs a quaternion from a rotation matrix.

Parameters:

R,:	Rotation matrix.

Definition at line 159 of file vpQuaternionVector.cpp.

vpQuaternionVector vpQuaternionVector::operator*

(

const double

l

)

Multiplication by scalar. Returns a quaternion defined by (lx,ly,lz,lw).

Definition at line 134 of file vpQuaternionVector.cpp.

vpQuaternionVector vpQuaternionVector::operator*

(

vpQuaternionVector &

rq

)

Multiply two quaternions.

Definition at line 140 of file vpQuaternionVector.cpp.

vpQuaternionVector vpQuaternionVector::operator+

(

vpQuaternionVector &

q

)

Quaternion addition.

Adds two quaternions. Addition is component-wise.

Parameters:

q,:	quaternion to add.

Definition at line 111 of file vpQuaternionVector.cpp.

vpQuaternionVector vpQuaternionVector::operator-

(

vpQuaternionVector &

q

)

Quaternion substraction.

Substracts a quaternion from another. Substraction is component-wise.

Parameters:

q,:	quaternion to substract.

Definition at line 122 of file vpQuaternionVector.cpp.

vpQuaternionVector vpQuaternionVector::operator-

(

void

)

Negate operator. Returns a quaternion defined by (-x,-y,-z-,-w).

Definition at line 128 of file vpQuaternionVector.cpp.

vpQuaternionVector & vpQuaternionVector::operator=

(

vpQuaternionVector &

q

)

Copy operator. Allow operation such as Q = q.

Definition at line 148 of file vpQuaternionVector.cpp.

void vpQuaternionVector::set	(	const double	x,
		const double	y,
		const double	z,
		const double	w
	)

Manually change values of a quaternion.

Parameters:

x,:	x quaternion parameter.
y,:	y quaternion parameter.
z,:	z quaternion parameter.
w,:	w quaternion parameter.

Definition at line 94 of file vpQuaternionVector.cpp.

unsigned int vpQuaternionVector::size

(

)

[inline]

Definition at line 92 of file vpQuaternionVector.h.

double vpQuaternionVector::w

(

)

const [inline]

returns w-component of the quaternion

Definition at line 100 of file vpQuaternionVector.h.

double vpQuaternionVector::x

(

)

const [inline]

returns x-component of the quaternion

Definition at line 94 of file vpQuaternionVector.h.

double vpQuaternionVector::y

(

)

const [inline]

returns y-component of the quaternion

Definition at line 96 of file vpQuaternionVector.h.

double vpQuaternionVector::z

(

)

const [inline]

returns z-component of the quaternion

Definition at line 98 of file vpQuaternionVector.h.

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Member Data Documentation

const double vpQuaternionVector::minimum = 0.0001 [static, private]

Definition at line 80 of file vpQuaternionVector.h.

double vpQuaternionVector::r[4] [private]

Definition at line 81 of file vpQuaternionVector.h.

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

• vpQuaternionVector.h
• vpQuaternionVector.cpp