WFMath_Quaternion man page

WFMath::Quaternion — A normalized quaterion.  

Synopsis

#include <quaternion.h>

Public Member Functions

Quaternion ()
Construct a Quatertion.
Quaternion (CoordType w_in, CoordType x_in, CoordType y_in, CoordType z_in)
Construct a Quaternion from (w, x, y, z) components.
Quaternion (int axis, CoordType angle)
Construct a Quaternion giving a rotation around axis by angle.
Quaternion (const Vector< 3 > &axis, CoordType angle)
Construct a Quaternion giving a rotation around the Vector axis by angle.
Quaternion (const Vector< 3 > &axis)
Construct a Quaternion giving a rotation around the Vector axis.
Quaternion (const Quaternion &p)
Construct a copy of a Quaternion.
Quaternion (const AtlasInType &a)
Construct a Quaternion from an Atlas::Message::Object.
AtlasOutType toAtlas () const
Create an Atlas object from the Quaternion.
void fromAtlas (const AtlasInType &a)
Set the Quaternion's value to that given by an Atlas object.
Quaternion & identity ()
Set the Quaternion to the identity rotation.
bool fromRotMatrix (const RotMatrix< 3 > &m)
set a Quaternion's value from a RotMatrix
Quaternion inverse () const
returns the inverse of the Quaternion
Quaternion & rotate (const RotMatrix< 3 > &)
Rotate quaternion using the matrix.
Quaternion & rotate (const Quaternion &q)
rotate the quaternion using another quaternion
Quaternion & rotation (int axis, CoordType angle)
sets the Quaternion to a rotation by angle around axis
Quaternion & rotation (const Vector< 3 > &axis, CoordType angle)
sets the Quaternion to a rotation by angle around the Vector axis
Quaternion & rotation (const Vector< 3 > &axis)
sets the Quaternion to a rotation around the Vector axis
Quaternion & rotation (const Vector< 3 > &from, const Vector< 3 > &to)
sets the Quaternion to rotate 'from' to be parallel to 'to'
CoordType scalar () const
returns the scalar (w) part of the Quaternion
const Vector< 3 > & vector () const
returns the Vector (x, y, z) part of the quaternion
void normalize ()
normalize to remove accumulated round-off error
unsigned age () const
current round-off age

Detailed Description

A normalized quaterion.

Constructor & Destructor Documentation

WFMath::Quaternion::Quaternion (CoordType w_in, CoordType x_in, CoordType y_in, CoordType z_in)

Construct a Quaternion from (w, x, y, z) components. This normalizes the components so the sum of their squares is one.

WFMath::Quaternion::Quaternion (const Vector< 3 > & axis) [inline], [explicit]

Construct a Quaternion giving a rotation around the Vector axis. The angle of rotating is equal to the magnitude of the Vector

References rotation().

Member Function Documentation

bool WFMath::Quaternion::fromRotMatrix (const RotMatrix< 3 > & m)

set a Quaternion's value from a RotMatrix Since a Quaternion can only represent an even-parity RotMatrix, this function returns false if the parity of m is odd. In this case, the quaternion is set to the value of m multiplied by a fixed parity-odd RotMatrix, so the full RotMatrix can be recovered by passing the Quaternion and the value of 'not_flip' returned by this function to RotMatrix::fromQuaternion().

Referenced by identity().

Quaternion& WFMath::Quaternion::rotation (const Vector< 3 > & axis)

sets the Quaternion to a rotation around the Vector axis The rotation angle is given by the magnitude of the Vector

Author

Generated automatically by Doxygen for WFMath from the source code.

Info

Mon May 15 2017 Version 1.0.2 WFMath