Quaternion Class Reference

A quaternion class. More...

#include <Quaternion.hh>

List of all members.

Public Member Functions
	Quaternion ()
	Default Constructor.
	Quaternion (const double &w, const double &x, const double &y, const double &z)
	Constructor.
	Quaternion (const double &_roll, const double &_pitch, const double &_yaw)
	Constructor from Euler angles.
	Quaternion (const Vector3 &_axis, const double &_angle)
	Constructor from axis angle.
	Quaternion (const Vector3 &_rpy)
	Constructor.
	Quaternion (const Quaternion &qt)
	Copy constructor.
	~Quaternion ()
	Destructor.
const Quaternion &	operator= (const Quaternion &qt)
	Equal operator.
void	Invert ()
	Invert the quaternion.
Quaternion	GetInverse () const
	Get the inverse of this quaternion.
void	SetToIdentity ()
	Set the quatern to the identity.
Quaternion	GetLog () const
Quaternion	GetExp () const
void	Normalize ()
	Normalize the quaternion.
void	SetFromAxis (double x, double y, double z, double a)
	Set the quaternion from an axis and angle.
void	SetFromAxis (const Vector3 &_axis, double _a)
	Set the quaternion from an axis and angle.
void	Set (double u, double x, double y, double z)
	Set this quaternion from another.
void	SetFromEuler (const Vector3 &vec)
	Set the quaternion from Euler angles.
Vector3	GetAsEuler () const
	Return the rotation in Euler angles.
double	GetRoll ()
	Get the Euler roll angle in radians.
double	GetPitch ()
	Get the Euler pitch angle in radians.
double	GetYaw ()
	Get the Euler yaw angle in radians.
void	GetAsAxis (Vector3 &axis, double &angle) const
	Return rotation as axis and angle.
void	Scale (double scale)
	Scale a Quaternionion.
Quaternion	operator+ (const Quaternion &qt) const
	Addition operator.
Quaternion	operator+= (const Quaternion &qt)
	Addition operator.
Quaternion	operator- (const Quaternion &qt) const
	Substraction operator.
Quaternion	operator-= (const Quaternion &qt)
	Substraction operator.
Quaternion	operator* (const Quaternion &_q) const
	Multiplication operator.
Quaternion	operator* (const double &_f) const
	Multipcation operator.
Quaternion	operator*= (const Quaternion &qt)
	Multiplication operator.
Vector3	operator* (const Vector3 &v) const
	Vector3 multiplication operator.
bool	operator== (const Quaternion &_qt) const
	Equality operator.
bool	operator!= (const Quaternion &_qt) const
	Inequality operator.
Quaternion	operator- () const
	Negate operator.
Vector3	RotateVector (const Vector3 &_vec) const
	Rotate a vector using the quaternion.
Vector3	RotateVectorReverse (Vector3 vec) const
	Do the reverse rotation of a vector by this quaternion.
bool	IsFinite () const
	See if a quatern is finite (e.g., not nan)
void	Correct ()
	Correct any nan.
Matrix3	GetAsMatrix3 () const
	Get the quaternion as a 3x3 matrix.
Matrix4	GetAsMatrix4 () const
	Get the quaternion as a 4x4 matrix.
Vector3	GetXAxis () const
Vector3	GetYAxis () const
Vector3	GetZAxis () const
void	Round (int _precision)
	Round all values to _precision decimal places.
double	Dot (const Quaternion &_q) const
	Dot product.
Static Public Member Functions
static Quaternion	EulerToQuaternion (const Vector3 &vec)
	Convert euler angles to quatern.
static Quaternion	EulerToQuaternion (double x, double y, double z)
	Convert euler angles to quatern.
static Quaternion	Squad (double _fT, const Quaternion &_rkP, const Quaternion &_rkA, const Quaternion &_rkB, Quaternion &_rkQ, bool _shortestPath=false)
	Spherical quadratic interpolation.
static Quaternion	Slerp (double _fT, const Quaternion &_rkP, const Quaternion &_rkQ, bool _shortestPath=false)
	Spherical linear interpolation.
Public Attributes
double	w
	Attributes of the quaternion.
double	x
	Attributes of the quaternion.
double	y
	Attributes of the quaternion.
double	z
	Attributes of the quaternion.
Friends
std::ostream &	operator<< (std::ostream &out, const gazebo::math::Quaternion &q)
	Ostream operator.
std::istream &	operator>> (std::istream &in, gazebo::math::Quaternion &q)
	Istream operator.

---

Detailed Description

A quaternion class.

---

Constructor & Destructor Documentation

Quaternion	(	const double &	w,
		const double &	x,
		const double &	y,
		const double &	z
	)

Constructor.

Parameters:

w	W param
x	X param
y	Y param
z	Z param

Quaternion

(

const Quaternion &

qt

)

Copy constructor.

Parameters:

qt	Quaternion to copy

---

Member Function Documentation

Vector3 GetAsEuler

(

)

const

Return the rotation in Euler angles.

Returns:

This quaternion as an Euler vector

Quaternion GetInverse

(

)

const [inline]

Get the inverse of this quaternion.

Returns:

Inverse quarenion

References Quaternion::w, Quaternion::x, Quaternion::y, and Quaternion::z.

Referenced by Pose::CoordPositionSub(), Pose::CoordRotationSub(), and Quaternion::RotateVector().

bool IsFinite

(

)

const

See if a quatern is finite (e.g., not nan)

Returns:

True if quatern is finite

bool operator!=

(

const Quaternion &

_qt

)

const

Inequality operator.

Parameters:

_qt	Quaternion for comparison

Returns:

True if not equal

Quaternion operator*

(

const Quaternion &

_q

)

const [inline]

Multiplication operator.

Parameters:

qt	Quaternion for multiplication

Returns:

This quatern multiplied by the parameter

References Quaternion::Quaternion(), Quaternion::w, Quaternion::x, Quaternion::y, and Quaternion::z.

Quaternion operator*

(

const double &

_f

)

const

Multipcation operator.

Parameters:

_f	Double factor

Returns:

Quaternion multiplied by _f

Quaternion operator*=

(

const Quaternion &

qt

)

Multiplication operator.

Parameters:

qt	Quaternion for multiplication

Returns:

This quatern multiplied by the parameter

Quaternion operator+

(

const Quaternion &

qt

)

const

Addition operator.

Parameters:

qt	Quaternion for addition

Returns:

This quatern + qt

Quaternion operator+=

(

const Quaternion &

qt

)

Addition operator.

Parameters:

qt	Quaternion for addition

Returns:

This quatern + qt

Quaternion operator-

(

const Quaternion &

qt

)

const

Substraction operator.

Parameters:

qt	Quaternion for substraction

Returns:

This quatern - qt

Quaternion operator-=

(

const Quaternion &

qt

)

Substraction operator.

Parameters:

qt	Quaternion for substraction

Returns:

This quatern - qt

const Quaternion& operator=

(

const Quaternion &

qt

)

Equal operator.

Parameters:

qt	Quaternion to copy

bool operator==

(

const Quaternion &

_qt

)

const

Equality operator.

Parameters:

_qt	Quaternion for comparison

Returns:

True if equal

Vector3 RotateVector

(

const Vector3 &

_vec

)

const [inline]

Rotate a vector using the quaternion.

Returns:

The rotated vector

References Quaternion::GetInverse(), Vector3::x, Quaternion::x, Vector3::y, Quaternion::y, Vector3::z, and Quaternion::z.

void Scale

(

double

scale

)

Scale a Quaternionion.

Parameters:

scale

Amount to scale this rotation

void SetFromAxis	(	double	x,
		double	y,
		double	z,
		double	a
	)

Set the quaternion from an axis and angle.

Parameters:

x	X axis
y	Y axis
z	Z axis
a	Angle in radians

void SetFromAxis	(	const Vector3 &	_axis,
		double	_a
	)

Set the quaternion from an axis and angle.

Parameters:

_axis	Axis
_a	Angle in radians

void SetFromEuler

(

const Vector3 &

vec

)

Set the quaternion from Euler angles.

Parameters:

vec	Euler angle

---

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	out,
		const gazebo::math::Quaternion &	q
	)		[friend]

Ostream operator.

Parameters:

out	Ostream
q	Quaternion to output

Returns:

The ostream

std::istream& operator>>	(	std::istream &	in,
		gazebo::math::Quaternion &	q
	)		[friend]

Istream operator.

Parameters:

in	Ostream
q	Quaternion to read values into

Returns:

The istream

---

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

• Quaternion.hh