Quaternion Class Reference

A 4-dimensional unit vector used to store a rotation. More...

#include <matvec3D.h>

Public Member Functions
Quaternion	inverse () const
double	norm () const
void	normalise ()
double	operator% (const Quaternion &q) const
position	operator* (const position &pt) const
vec3	operator* (const vec3 &v) const
Quaternion	operator* (const Quaternion &q) const
Quaternion	operator+ (const Quaternion &q) const
Quaternion	operator- () const
Quaternion	operator- (const Quaternion &q) const
Quaternion &	operator= (const Quaternion &q)
bool	operator== (Quaternion const &q) const
	Quaternion (const double &angle, const vec3 &axis)
	Quaternion (const mat3 &R)
	Quaternion (double W, double X, double Y, double Z)
	Quaternion ()
void	set (const SbRotation &SbRot)
void	set (const double &angle, const vec3 &axis)
void	set (const mat3 &R)
void	set (double W, double X, double Y, double Z)
void	set (const Quaternion &Q)
void	ToAngleAxis (double &angle, vec3 &axis) const
void	ToRotationMatrix (mat3 &m) const
SbRotation	toSbRotation () const
Static Public Member Functions
static void	Intermediate (const Quaternion &q0, const Quaternion &q1, const Quaternion &q2, Quaternion &a, Quaternion &b)
static Quaternion	Slerp (double t, const Quaternion &p, const Quaternion &q)
static Quaternion	Squad (double t, const Quaternion &p, const Quaternion &a, const Quaternion &b, const Quaternion &q)
Public Attributes
double	w
	The four scalar components of a quaternion.
double	x
double	y
double	z
Static Public Attributes
static const Quaternion	IDENTITY
	An identity rotation [1,0,0,0].
Friends
std::ostream &	operator<< (std::ostream &os, const Quaternion &q)
std::istream &	operator>> (std::istream &is, Quaternion &q)

Detailed Description

A 4-dimensional unit vector used to store a rotation.

Quaternions are an efficient way to store and manipulate rotations.

Definition at line 339 of file matvec3D.h.

Constructor & Destructor Documentation

Quaternion::Quaternion ( ) [inline]

Default constructor, Quaternion is initialized to an identity rotation

Definition at line 345 of file matvec3D.h.

Quaternion::Quaternion	(	double	W,
		double	X,
		double	Y,
		double	Z
	)			`[inline]`

Initializes quaternion with 4 scalar values (automatically normalized).

Definition at line 348 of file matvec3D.h.

Quaternion::Quaternion ( const mat3 & R ) [inline]

Initializes quaternion using a rotation matrix R.

Definition at line 351 of file matvec3D.h.

Quaternion::Quaternion	(	const double &	angle,
		const vec3 &	axis
	)			`[inline]`

Initializes quaternion using a rotation exressed as in angle and axis format.

Definition at line 355 of file matvec3D.h.

Member Function Documentation

static void Quaternion::Intermediate	(	const Quaternion &	q0,
		const Quaternion &	q1,
		const Quaternion &	q2,
		Quaternion &	a,
		Quaternion &	b
	)			`[static]`

Quaternion Quaternion::inverse ( ) const [inline]

Returns the inverse quaternion.

Definition at line 1131 of file matvec3D.h.

double Quaternion::norm ( ) const [inline]

Returns the norm of the quaternion.

Definition at line 1124 of file matvec3D.h.

void Quaternion::normalise ( ) [inline]

Normalizes this quaternion.

Definition at line 1199 of file matvec3D.h.

double Quaternion::operator% ( const Quaternion & q ) const [inline]

Returns the dot product of this quaternion and q.

Definition at line 1117 of file matvec3D.h.

position Quaternion::operator* ( const position & p ) const [inline]

Returns the position p after it has been rotated by this quaternion.

Definition at line 1172 of file matvec3D.h.

vec3 Quaternion::operator* ( const vec3 & v ) const [inline]

Returns the vector v after it has been rotated by this quaternion.

Definition at line 1139 of file matvec3D.h.

Quaternion Quaternion::operator* ( const Quaternion & q ) const [inline]

Returns the normalized result of multiplying this quaternion by q.

Definition at line 1083 of file matvec3D.h.

Quaternion Quaternion::operator+ ( const Quaternion & q ) const [inline]

Returns the normalized result of adding q to this quaternion.

Definition at line 1069 of file matvec3D.h.

Quaternion Quaternion::operator- ( ) const [inline]

Unary negation operator. Negates each component of the quaternion.

Definition at line 1110 of file matvec3D.h.

Quaternion Quaternion::operator- ( const Quaternion & q ) const [inline]

Returns the normalized result of subtracting q from this quaternion.

Definition at line 1076 of file matvec3D.h.

Quaternion & Quaternion::operator= ( const Quaternion & q ) [inline]

Assignment operator, copies quaternion q.

Definition at line 1061 of file matvec3D.h.

bool Quaternion::operator== ( Quaternion const & q ) const [inline]

Comparison operator, returns true if the L2 distance between this quaternion and q is less than resabs.

Definition at line 1189 of file matvec3D.h.

void Quaternion::set ( const SbRotation & SbRot )

Sets this quaternion by converting from Inventor format.

Definition at line 294 of file matvec.cpp.

void Quaternion::set	(	const double &	angle,
		const vec3 &	axis
	)

Sets this quaternion by converting the rotation from angle-axis formate. The angle is specified in radians.

Definition at line 274 of file matvec.cpp.

void Quaternion::set ( const mat3 & R )

Sets this quaternion by converting from rotation matrix R.

Definition at line 228 of file matvec.cpp.

void Quaternion::set	(	double	W,
		double	X,
		double	Y,
		double	Z
	)			`[inline]`

Sets the value of the quaternion using 4 scalars and normalizes it.

Definition at line 362 of file matvec3D.h.

void Quaternion::set ( const Quaternion & Q ) [inline]

Copies the values of quaterion Q.

Definition at line 358 of file matvec3D.h.

Quaternion Quaternion::Slerp	(	double	t,
		const Quaternion &	p,
		const Quaternion &	q
	)			`[static]`

Computes a rotation between p and q using spherical linear interpolation and the scalar t [0..1]. If t is 0, p will be returned. If t is 1, q will be returned.

Definition at line 367 of file matvec.cpp.

static Quaternion Quaternion::Squad	(	double	t,
		const Quaternion &	p,
		const Quaternion &	a,
		const Quaternion &	b,
		const Quaternion &	q
	)			`[static]`

void Quaternion::ToAngleAxis	(	double &	angle,
		vec3 &	axis
	)			const

Converts this quaternion to angle-axis format.

Definition at line 337 of file matvec.cpp.

void Quaternion::ToRotationMatrix ( mat3 & R ) const

Converts this quaternion to a 3x3 rotation matrix.

Definition at line 307 of file matvec.cpp.

SbRotation Quaternion::toSbRotation ( ) const [inline]

Converts a quaternion into an Inventor style SbRotation. Inventor stores their quaternions in a slightly different order, and uses floats.

Definition at line 1054 of file matvec3D.h.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const Quaternion &	q
	)			`[friend]`

Writes the 4 values of a quaternion q in the format "(w, x, y, z)" to as stream os.

Definition at line 539 of file matvec.cpp.

std::istream& operator>>	(	std::istream &	is,
		Quaternion &	q
	)			`[friend]`

Reads the 4 values of a quaternion q formatted as "(w, x, y, z)" from a stream is.

Definition at line 520 of file matvec.cpp.

Member Data Documentation

const Quaternion Quaternion::IDENTITY [static]

An identity rotation [1,0,0,0].

Definition at line 412 of file matvec3D.h.

double Quaternion::w

The four scalar components of a quaternion.

Definition at line 342 of file matvec3D.h.

double Quaternion::x

Definition at line 342 of file matvec3D.h.

double Quaternion::y

Definition at line 342 of file matvec3D.h.

double Quaternion::z

Definition at line 342 of file matvec3D.h.

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

/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/matvec3D.h
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/matvec.cpp

Quaternion Class Reference

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation