mrpt::math::CQuaternion< T > Class Template Reference

#include <mrpt/math/CQuaternion.h>

Inheritance diagram for mrpt::math::CQuaternion< T >:

List of all members.

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)

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Detailed Description

template<class T>
class mrpt::math::CQuaternion< T >

Definition at line 42 of file CQuaternion.h.

---

Constructor & Destructor Documentation

template<class T >

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.

template<class T >

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.

template<class T >

mrpt::math::CQuaternion< T >::CQuaternion

(

const CQuaternion< T > &

qin

)

[inline]

Construct a quaternion as copy of an input quaternion.

Definition at line 75 of file CQuaternion.h.

template<class T >

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().

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Member Function Documentation

template<class T >

CQuaternion mrpt::math::CQuaternion< T >::operator*

(

const T &

factor

)

[inline]

Definition at line 270 of file CQuaternion.h.

template<class T >

CQuaternion mrpt::math::CQuaternion< T >::q_conj

(

)

[inline]

Change a quaternion by his conjugate.

Definition at line 246 of file CQuaternion.h.

template<class T >

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().

template<class T >

void mrpt::math::CQuaternion< T >::q_normalise

(

)

[inline]

Normalised quaternion.

Definition at line 197 of file CQuaternion.h.

template<class T >

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().

template<class T >

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().

template<class T >

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().

template<class T >

void mrpt::math::CQuaternion< T >::r

(

const T &

r

)

[inline]

Set r coordinate of the quaternion.

Definition at line 135 of file CQuaternion.h.

template<class T >

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().

template<class T >

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.

template<class T >

void mrpt::math::CQuaternion< T >::x

(

const T &

x

)

[inline]

Set x coordinate of the quaternion.

Definition at line 139 of file CQuaternion.h.

template<class T >

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().

template<class T >

void mrpt::math::CQuaternion< T >::y

(

const T &

y

)

[inline]

Set y coordinate of the quaternion.

Definition at line 143 of file CQuaternion.h.

template<class T >

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().

template<class T >

void mrpt::math::CQuaternion< T >::z

(

const T &

z

)

[inline]

Set z coordinate of the quaternion.

Definition at line 147 of file CQuaternion.h.

template<class T >

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().