This class represents a Quaternion. More...

#include <Quaternion.h>

Public Member Functions
Quaternion	inv () const
	Inversion. More...

Quaternion &	inv_IP ()
	Inversion. More...

float	norm () const

Quaternion &	normalize ()

Quaternion	normalized () const

const float &	operator() (unsigned int i) const

float &	operator() (unsigned int i)

Quaternion	operator* (const Quaternion &other) const
	Quaternion multiplication. More...

Quaternion	operator* (const Vector3 &v) const
	Quaternion multiplication with extended vector. More...

void	operator/= (float x)

Quaternion &	operator= (const Quaternion &other)

bool	operator== (const Quaternion &other) const

	Quaternion ()
	Default constructor. More...

	Quaternion (const Quaternion &other)
	Copy constructor. More...

	Quaternion (float u, float x, float y, float z)
	Constructor. More...

	Quaternion (const Vector3 &other)
	Constructor. More...

	Quaternion (double roll, double pitch, double yaw)
	Constructor from Euler angles. More...

	Quaternion (const Vector3 &axis, double angle)
	Constructs a Unit Quaternion from a rotation angle and axis. More...

std::istream &	read (std::istream &s)

std::istream &	readBinary (std::istream &s)

Vector3	rotate (const Vector3 &v) const
	Rotate a vector. More...

Vector3	toEuler () const
	Conversion to Euler angles. More...

void	toRotMatrix (std::vector< double > &rot_matrix_3_3) const

float &	u ()

const float &	u () const

std::ostream &	write (std::ostream &s) const

std::ostream &	writeBinary (std::ostream &s) const

float &	x ()

const float &	x () const

float &	y ()

const float &	y () const

float &	z ()

const float &	z () const

Protected Attributes
float	data [4]

Friends
Quaternion	operator* (const Vector3 &v, const Quaternion &q)
	Quaternion multiplication with extended vector. More...

Detailed Description

This class represents a Quaternion.

The Unit Quaternion is one possible representation of the attitude of an object in tree-dimensional space.

This Quaternion class is implemented according to Diebel, James. Representing Attitude: Euler Angle, Unit Quaternions, and Rotation Vectors. Stanford University. 2006. - Technical Report.

Definition at line 56 of file Quaternion.h.

Constructor & Destructor Documentation

octomath::Quaternion::Quaternion ( )

inline

Default constructor.

Constructs the (1,0,0,0) Unit Quaternion representing the identity rotation.

Definition at line 66 of file Quaternion.h.

octomath::Quaternion::Quaternion ( const Quaternion & other )

Copy constructor.

Definition at line 48 of file Quaternion.cpp.

octomath::Quaternion::Quaternion	(	float	u,
		float	x,
		float	y,
		float	z
	)

Constructor.

Constructs a Quaternion from four single values

Definition at line 55 of file Quaternion.cpp.

octomath::Quaternion::Quaternion ( const Vector3 & other )

Constructor.

Parameters

other a vector containing euler angles

Definition at line 62 of file Quaternion.cpp.

octomath::Quaternion::Quaternion	(	double	roll,
		double	pitch,
		double	yaw
	)

Constructor from Euler angles.

Constructs a Unit Quaternion from Euler angles / Tait Bryan angles (in radians) according to the 1-2-3 convention.

Parameters

roll	phi/roll angle (rotation about x-axis)
pitch	theta/pitch angle (rotation about y-axis)
yaw	psi/yaw angle (rotation about z-axis)

Definition at line 66 of file Quaternion.cpp.

octomath::Quaternion::Quaternion	(	const Vector3 &	axis,
		double	angle
	)

Constructs a Unit Quaternion from a rotation angle and axis.

Definition at line 90 of file Quaternion.cpp.

Member Function Documentation

Quaternion octomath::Quaternion::inv ( ) const

inline

Inversion.

Returns: A copy of this Quaterion inverted

Definition at line 156 of file Quaternion.h.

Quaternion & octomath::Quaternion::inv_IP ( )

Inversion.

Inverts this Quaternion

Returns: a reference to this Quaternion

Definition at line 248 of file Quaternion.cpp.

float octomath::Quaternion::norm ( ) const

Definition at line 99 of file Quaternion.cpp.

Quaternion & octomath::Quaternion::normalize ( )

Definition at line 234 of file Quaternion.cpp.

Quaternion octomath::Quaternion::normalized ( ) const

Definition at line 241 of file Quaternion.cpp.

const float& octomath::Quaternion::operator() ( unsigned int i ) const

inline

Definition at line 116 of file Quaternion.h.

float& octomath::Quaternion::operator() ( unsigned int i )

inline

Definition at line 117 of file Quaternion.h.

Quaternion octomath::Quaternion::operator* ( const Quaternion & other ) const

Quaternion multiplication.

Standard Quaternion multiplication which is not commutative.

Returns: this * other

Definition at line 219 of file Quaternion.cpp.

Quaternion octomath::Quaternion::operator* ( const Vector3 & v ) const

Quaternion multiplication with extended vector.

Returns: q * (0, v)

Definition at line 226 of file Quaternion.cpp.

void octomath::Quaternion::operator/= ( float x )

Definition at line 107 of file Quaternion.cpp.

Quaternion & octomath::Quaternion::operator= ( const Quaternion & other )

Definition at line 211 of file Quaternion.cpp.

bool octomath::Quaternion::operator== ( const Quaternion & other ) const

Definition at line 113 of file Quaternion.cpp.

std::istream & octomath::Quaternion::read ( std::istream & s )

Definition at line 261 of file Quaternion.cpp.

std::istream & octomath::Quaternion::readBinary ( std::istream & s )

Definition at line 279 of file Quaternion.cpp.

Vector3 octomath::Quaternion::rotate ( const Vector3 & v ) const

Rotate a vector.

Rotates a vector to the body fixed coordinate system according to the attitude represented by this Quaternion.

Parameters

v	a vector represented in world coordinates

Returns: v represented in body-fixed coordinates

Definition at line 255 of file Quaternion.cpp.

Vector3 octomath::Quaternion::toEuler ( ) const

Conversion to Euler angles.

Converts the attitude represented by this to Euler angles (roll, pitch, yaw).

Definition at line 124 of file Quaternion.cpp.

void octomath::Quaternion::toRotMatrix ( std::vector< double > & rot_matrix_3_3 ) const

Definition at line 167 of file Quaternion.cpp.

float& octomath::Quaternion::u ( )

inline

Definition at line 178 of file Quaternion.h.

const float& octomath::Quaternion::u ( ) const

inline

Definition at line 183 of file Quaternion.h.

std::ostream & octomath::Quaternion::write ( std::ostream & s ) const

Definition at line 270 of file Quaternion.cpp.

std::ostream & octomath::Quaternion::writeBinary ( std::ostream & s ) const

Definition at line 291 of file Quaternion.cpp.

float& octomath::Quaternion::x ( )

inline

Definition at line 179 of file Quaternion.h.

const float& octomath::Quaternion::x ( ) const

inline

Definition at line 184 of file Quaternion.h.

float& octomath::Quaternion::y ( )

inline

Definition at line 180 of file Quaternion.h.

const float& octomath::Quaternion::y ( ) const

inline

Definition at line 185 of file Quaternion.h.

float& octomath::Quaternion::z ( )

inline

Definition at line 181 of file Quaternion.h.

const float& octomath::Quaternion::z ( ) const

inline

Definition at line 186 of file Quaternion.h.

Friends And Related Function Documentation

Quaternion operator*	(	const Vector3 &	v,
		const Quaternion &	q
	)

friend

Quaternion multiplication with extended vector.

Returns: (0, v) * q

Definition at line 230 of file Quaternion.cpp.

Member Data Documentation

float octomath::Quaternion::data[4]

protected

Definition at line 194 of file Quaternion.h.

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

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation