Quaternion.h
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33 
34 #ifndef OCTOMATH_QUATERNION_H
35 #define OCTOMATH_QUATERNION_H
36 
37 #include "Vector3.h"
38 
39 #include <iostream>
40 #include <vector>
41 
42 
43 namespace octomath {
44 
56  class Quaternion {
57 
58  public:
59 
66  inline Quaternion() { u() = 1; x() = 0; y() = 0; z() = 0; }
67 
71  Quaternion(const Quaternion& other);
72 
79  Quaternion(float u, float x, float y, float z);
80 
86  Quaternion(const Vector3& other);
87 
97  Quaternion(double roll, double pitch, double yaw);
98 
99 
100 
102  Quaternion(const Vector3& axis, double angle);
103 
104 
111  Vector3 toEuler() const;
112 
113  void toRotMatrix(std::vector <double>& rot_matrix_3_3) const;
114 
115 
116  inline const float& operator() (unsigned int i) const { return data[i]; }
117  inline float& operator() (unsigned int i) { return data[i]; }
118 
119  float norm () const;
120  Quaternion normalized () const;
121  Quaternion& normalize ();
122 
123 
124  void operator/= (float x);
125  Quaternion& operator= (const Quaternion& other);
126  bool operator== (const Quaternion& other) const;
127 
135  Quaternion operator* (const Quaternion& other) const;
136 
142  Quaternion operator* (const Vector3 &v) const;
143 
149  friend Quaternion operator* (const Vector3 &v, const Quaternion &q);
150 
156  inline Quaternion inv() const { return Quaternion(u(), -x(), -y(), -z()); }
157 
158 
165  Quaternion& inv_IP();
166 
176  Vector3 rotate(const Vector3 &v) const;
177 
178  inline float& u() { return data[0]; }
179  inline float& x() { return data[1]; }
180  inline float& y() { return data[2]; }
181  inline float& z() { return data[3]; }
182 
183  inline const float& u() const { return data[0]; }
184  inline const float& x() const { return data[1]; }
185  inline const float& y() const { return data[2]; }
186  inline const float& z() const { return data[3]; }
187 
188  std::istream& read(std::istream &s);
189  std::ostream& write(std::ostream &s) const;
190  std::istream& readBinary(std::istream &s);
191  std::ostream& writeBinary(std::ostream &s) const;
192 
193  protected:
194  float data[4];
195 
196  };
197 
199  std::ostream& operator<<(std::ostream& s, const Quaternion& q);
200 
201 }
202 
203 #endif
Quaternion & operator=(const Quaternion &other)
Definition: Quaternion.cpp:211
std::ostream & writeBinary(std::ostream &s) const
Definition: Quaternion.cpp:291
std::ostream & operator<<(std::ostream &s, const Pose6D &p)
user friendly output in format (x y z, u x y z) which is (translation, rotation)
Definition: Pose6D.cpp:147
std::istream & read(std::istream &s)
Definition: Quaternion.cpp:261
const float & x() const
Definition: Quaternion.h:184
const float & u() const
Definition: Quaternion.h:183
void toRotMatrix(std::vector< double > &rot_matrix_3_3) const
Definition: Quaternion.cpp:167
float norm() const
Definition: Quaternion.cpp:99
const float & operator()(unsigned int i) const
Definition: Quaternion.h:116
bool operator==(const Quaternion &other) const
Definition: Quaternion.cpp:113
Quaternion inv() const
Inversion.
Definition: Quaternion.h:156
Quaternion normalized() const
Definition: Quaternion.cpp:241
Quaternion & normalize()
Definition: Quaternion.cpp:234
This class represents a three-dimensional vector.
Definition: Vector3.h:50
void operator/=(float x)
Definition: Quaternion.cpp:107
Vector3 toEuler() const
Conversion to Euler angles.
Definition: Quaternion.cpp:124
const float & z() const
Definition: Quaternion.h:186
Vector3 rotate(const Vector3 &v) const
Rotate a vector.
Definition: Quaternion.cpp:255
Quaternion & inv_IP()
Inversion.
Definition: Quaternion.cpp:248
Quaternion()
Default constructor.
Definition: Quaternion.h:66
const float & y() const
Definition: Quaternion.h:185
std::ostream & write(std::ostream &s) const
Definition: Quaternion.cpp:270
Quaternion operator*(const Quaternion &other) const
Quaternion multiplication.
Definition: Quaternion.cpp:219
This class represents a Quaternion.
Definition: Quaternion.h:56
std::istream & readBinary(std::istream &s)
Definition: Quaternion.cpp:279


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Fri Jun 7 2019 21:17:32