#include <mrpt/math/CQuaternion.h>
Public Member Functions | |
CQuaternion () | |
General functions for quaternion. | |
CQuaternion (const T &r, const T &x, const T &y, const T &z) | |
Construct a quaternion based on his parameters 'qr', 'qx', 'qy', 'qz'. | |
CQuaternion (const CQuaternion &qin) | |
Construct a quaternion as copy of an input quaternion. | |
CQuaternion (const CVectorTemplate< T > &in) | |
Construct a quaternion from a 3D input vector. | |
T | r () const |
Return r coordinate of the quaternion. | |
T | x () const |
Return x coordinate of the quaternion. | |
T | y () const |
Return y coordinate of the quaternion. | |
T | z () const |
Return z coordinate of the quaternion. | |
void | r (const T &r) |
Set r coordinate of the quaternion. | |
void | x (const T &x) |
Set x coordinate of the quaternion. | |
void | y (const T &y) |
Set y coordinate of the quaternion. | |
void | z (const T &z) |
Set z coordinate of the quaternion. | |
void | q_conv (const CVectorTemplate< T > &in) |
Calculate the quaternion associated to a vector. | |
void | q_prod (const CQuaternion &qin1, const CQuaternion &qin2) |
Calculate the cross product of two quaternion. | |
void | q_normalise () |
Normalised quaternion. | |
void | q_normJac (CMatrixTemplateNumeric< T > &J) |
Calculate the normalized Jacobian of a quaternion. | |
void | q_rotation_matrix (CMatrixTemplateNumeric< T > &M) |
Calculate de rotation matrix associated to a quaternion. | |
CQuaternion | q_conj () |
Change a quaternion by his conjugate. | |
void | rpy (T &r, T &p, T &y) |
Return the roll, pitch and yaw angle associated to quaternion. | |
CQuaternion | operator* (const T &factor) |
Definition at line 42 of file CQuaternion.h.
mrpt::math::CQuaternion< T >::CQuaternion | ( | ) | [inline] |
General functions for quaternion.
This quaternion class represents a 3D rotation as a complex vector with 3 imaginary parts x, y, z and 1 real part r. Where q = r + ix + jy + kz. Default constructor. Construct an empty quaternion
Definition at line 55 of file CQuaternion.h.
mrpt::math::CQuaternion< T >::CQuaternion | ( | const T & | r, | |
const T & | x, | |||
const T & | y, | |||
const T & | z | |||
) | [inline] |
Construct a quaternion based on his parameters 'qr', 'qx', 'qy', 'qz'.
Definition at line 63 of file CQuaternion.h.
mrpt::math::CQuaternion< T >::CQuaternion | ( | const CQuaternion< T > & | qin | ) | [inline] |
mrpt::math::CQuaternion< T >::CQuaternion | ( | const CVectorTemplate< T > & | in | ) | [inline] |
Construct a quaternion from a 3D input vector.
Definition at line 84 of file CQuaternion.h.
References THROW_EXCEPTION, mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().
CQuaternion mrpt::math::CQuaternion< T >::operator* | ( | const T & | factor | ) | [inline] |
Definition at line 270 of file CQuaternion.h.
CQuaternion mrpt::math::CQuaternion< T >::q_conj | ( | ) | [inline] |
void mrpt::math::CQuaternion< T >::q_conv | ( | const CVectorTemplate< T > & | in | ) | [inline] |
Calculate the quaternion associated to a vector.
Definition at line 152 of file CQuaternion.h.
References ASSERT_, mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().
void mrpt::math::CQuaternion< T >::q_normalise | ( | ) | [inline] |
void mrpt::math::CQuaternion< T >::q_normJac | ( | CMatrixTemplateNumeric< T > & | J | ) | [inline] |
Calculate the normalized Jacobian of a quaternion.
Definition at line 208 of file CQuaternion.h.
References mrpt::math::CMatrixTemplateNumeric< T >::setSize().
void mrpt::math::CQuaternion< T >::q_prod | ( | const CQuaternion< T > & | qin1, | |
const CQuaternion< T > & | qin2 | |||
) | [inline] |
Calculate the cross product of two quaternion.
The result is an other quaternion
Definition at line 170 of file CQuaternion.h.
References mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().
void mrpt::math::CQuaternion< T >::q_rotation_matrix | ( | CMatrixTemplateNumeric< T > & | M | ) | [inline] |
Calculate de rotation matrix associated to a quaternion.
Definition at line 229 of file CQuaternion.h.
References mrpt::math::CMatrixTemplateNumeric< T >::setSize().
void mrpt::math::CQuaternion< T >::r | ( | const T & | r | ) | [inline] |
T mrpt::math::CQuaternion< T >::r | ( | ) | const [inline] |
Return r coordinate of the quaternion.
Definition at line 119 of file CQuaternion.h.
Referenced by mrpt::math::CQuaternion< T >::q_prod().
void mrpt::math::CQuaternion< T >::rpy | ( | T & | r, | |
T & | p, | |||
T & | y | |||
) | [inline] |
Return the roll, pitch and yaw angle associated to quaternion.
Definition at line 259 of file CQuaternion.h.
void mrpt::math::CQuaternion< T >::x | ( | const T & | x | ) | [inline] |
T mrpt::math::CQuaternion< T >::x | ( | ) | const [inline] |
Return x coordinate of the quaternion.
Definition at line 123 of file CQuaternion.h.
Referenced by mrpt::math::CQuaternion< T >::CQuaternion(), mrpt::math::CQuaternion< T >::q_conv(), and mrpt::math::CQuaternion< T >::q_prod().
void mrpt::math::CQuaternion< T >::y | ( | const T & | y | ) | [inline] |
T mrpt::math::CQuaternion< T >::y | ( | ) | const [inline] |
Return y coordinate of the quaternion.
Definition at line 127 of file CQuaternion.h.
Referenced by mrpt::math::CQuaternion< T >::CQuaternion(), mrpt::math::CQuaternion< T >::q_conv(), and mrpt::math::CQuaternion< T >::q_prod().
void mrpt::math::CQuaternion< T >::z | ( | const T & | z | ) | [inline] |
T mrpt::math::CQuaternion< T >::z | ( | ) | const [inline] |
Return z coordinate of the quaternion.
Definition at line 131 of file CQuaternion.h.
Referenced by mrpt::math::CQuaternion< T >::CQuaternion(), mrpt::math::CQuaternion< T >::q_conv(), and mrpt::math::CQuaternion< T >::q_prod().
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