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

#include <Quaternion.hpp>

Inheritance diagram for tf2::Quaternion:

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Collaboration diagram for tf2::Quaternion:

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Public Member Functions
	Quaternion ()
	No initialization constructor.

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

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

	Quaternion (const tf2Scalar &roll, const tf2Scalar &pitch, const tf2Scalar &yaw)
	Constructor from fixed axis RPY.

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

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

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

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

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

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

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

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

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

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

bool	isnan () const

Quaternion &	normalize ()
	Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.

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

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

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

Quaternion	normalized () const
	Return a normalized version of this quaternion.

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

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

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

tf2Scalar	getAngleShortestPath () const
	Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path.

Vector3	getAxis () const
	Return the axis of the rotation represented by this quaternion.

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

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

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

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

Quaternion	farthest (const Quaternion &qd) const

Quaternion	nearest (const Quaternion &qd) const

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.

const tf2Scalar &	getW () const

Public Member Functions inherited from tf2::QuadWord
const tf2Scalar &	getX () const
	Return the x value.

const tf2Scalar &	getY () const
	Return the y value.

const tf2Scalar &	getZ () const
	Return the z value.

void	setX (tf2Scalar x)
	Set the x value.

void	setY (tf2Scalar y)
	Set the y value.

void	setZ (tf2Scalar z)
	Set the z value.

void	setW (tf2Scalar w)
	Set the w value.

const tf2Scalar &	x () const
	Return the x value.

const tf2Scalar &	y () const
	Return the y value.

const tf2Scalar &	z () const
	Return the z value.

const tf2Scalar &	w () const
	Return the w value.

	operator tf2Scalar * ()
	operator tf2Scalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.

	operator const tf2Scalar * () const

bool	operator== (const QuadWord &other) const

bool	operator!= (const QuadWord &other) const

void	setValue (const tf2Scalar &x, const tf2Scalar &y, const tf2Scalar &z)
	Set x,y,z and zero w.

void	setValue (const tf2Scalar &x, const tf2Scalar &y, const tf2Scalar &z, const tf2Scalar &w)
	Set the values.

	QuadWord ()
	No initialization constructor.

	QuadWord (const tf2Scalar &x, const tf2Scalar &y, const tf2Scalar &z)
	Three argument constructor (zeros w)

	QuadWord (const tf2Scalar &x, const tf2Scalar &y, const tf2Scalar &z, const tf2Scalar &w)
	Initializing constructor.

void	setMax (const QuadWord &other)
	Set each element to the max of the current values and the values of another QuadWord.

void	setMin (const QuadWord &other)
	Set each element to the min of the current values and the values of another QuadWord.

Static Public Member Functions
static const Quaternion &	getIdentity ()

static Quaternion	createFromRPY (const tf2Scalar &roll, const tf2Scalar &pitch, const tf2Scalar &yaw)
	Creates a quaternion using fixed axis RPY.

static Quaternion	createFromEuler (const tf2Scalar &roll, const tf2Scalar &pitch, const tf2Scalar &yaw)
	Creates a quaternion using Euler angles.

static Quaternion	createFromRotation (const Vector3 &axis, const tf2Scalar &angle)
	Creates a quaternion using axis angle notation.

Additional Inherited Members
Protected Attributes inherited from tf2::QuadWord
tf2Scalar	m_floats [4]

Detailed Description

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

Constructor & Destructor Documentation

◆ Quaternion() [1/4]

tf2::Quaternion::Quaternion ( )

inline

No initialization constructor.

◆ Quaternion() [2/4]

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

inline

Constructor from scalars.

◆ 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)

◆ Quaternion() [4/4]

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

inline

Constructor from fixed axis RPY.

Parameters

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

Member Function Documentation

◆ 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

◆ 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

◆ 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

◆ operator+=()

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

inline

Add two quaternions.

Parameters

q	The quaternion to add to this one

◆ operator-=()

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

inline

Sutf2ract out a quaternion.

Parameters

q	The quaternion to sutf2ract from this one

◆ operator*=() [1/2]

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

inline

Scale this quaternion.

Parameters

s	The scalar to scale by

◆ 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

◆ dot()

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

inline

Return the dot product between this quaternion and another.

Parameters

q	The other quaternion

◆ length2()

tf2Scalar tf2::Quaternion::length2 ( ) const

inline

Return the length squared of the quaternion.

◆ length()

tf2Scalar tf2::Quaternion::length ( ) const

inline

Return the length of the quaternion.

◆ isnan()

bool tf2::Quaternion::isnan ( ) const

inline

◆ normalize()

Quaternion & tf2::Quaternion::normalize ( )

inline

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

◆ operator*()

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

inline

Return a scaled version of this quaternion.

Parameters

s	The scale factor

◆ operator/()

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

inline

Return an inversely scaled versionof this quaternion.

Parameters

s	The inverse scale factor

◆ operator/=()

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

inline

Inversely scale this quaternion.

Parameters

s	The scale factor

◆ normalized()

Quaternion tf2::Quaternion::normalized ( ) const

inline

Return a normalized version of this quaternion.

◆ 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

◆ 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

◆ getAngle()

tf2Scalar tf2::Quaternion::getAngle ( ) const

inline

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

◆ getAngleShortestPath()

tf2Scalar tf2::Quaternion::getAngleShortestPath ( ) const

inline

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

◆ getAxis()

Vector3 tf2::Quaternion::getAxis ( ) const

inline

Return the axis of the rotation represented by this quaternion.

◆ inverse()

Quaternion tf2::Quaternion::inverse ( ) const

inline

Return the inverse of this quaternion.

◆ operator+()

Quaternion tf2::Quaternion::operator+ ( const Quaternion & q2 ) const

inline

Return the sum of this quaternion and the other.

Parameters

q2	The other quaternion

◆ operator-() [1/2]

Quaternion tf2::Quaternion::operator- ( const Quaternion & q2 ) const

inline

Return the difference between this quaternion and the other.

Parameters

q2	The other quaternion

◆ operator-() [2/2]

Quaternion tf2::Quaternion::operator- ( ) const

inline

Return the negative of this quaternion This simply negates each element.

◆ farthest()

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

inline

Todo:: document this and it's use

◆ nearest()

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

inline

Todo:: document this and it's use

◆ 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.

◆ getIdentity()

static const Quaternion & tf2::Quaternion::getIdentity ( )

inlinestatic

◆ createFromRPY()

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

inlinestatic

Creates a quaternion using fixed axis RPY.

Parameters

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

Returns: new created quaternion

◆ createFromEuler()

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

inlinestatic

Creates a quaternion using Euler angles.

Parameters

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

Returns: new created quaternion

◆ createFromRotation()

static Quaternion tf2::Quaternion::createFromRotation	(	const Vector3 &	axis,
		const tf2Scalar &	angle
	)

inlinestatic

Creates a quaternion using axis angle notation.

Parameters

axis	The axis around which to rotate
angle	The magnitude of the rotation in Radians

Returns: new created quaternion

◆ getW()

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

inline

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

include/tf2/LinearMath/Quaternion.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Quaternion() [1/4]

◆ Quaternion() [2/4]

◆ Quaternion() [3/4]

◆ Quaternion() [4/4]

Member Function Documentation

◆ setRotation()

◆ setEuler()

◆ setRPY()

◆ operator+=()

◆ operator-=()

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ dot()

◆ length2()

◆ length()

◆ isnan()

◆ normalize()

◆ operator*()

◆ operator/()

◆ operator/=()

◆ normalized()

◆ angle()

◆ angleShortestPath()

◆ getAngle()

◆ getAngleShortestPath()

◆ getAxis()

◆ inverse()

◆ operator+()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ farthest()

◆ nearest()

◆ slerp()

◆ getIdentity()

◆ createFromRPY()

◆ createFromEuler()

◆ createFromRotation()

◆ getW()