WFMath  1.0.1
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WFMath::Quaternion Class Reference

A normalized quaterion. More...

#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.
Quaternionidentity ()
 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
Quaternionrotate (const RotMatrix< 3 > &)
 Rotate quaternion using the matrix.
Quaternionrotate (const Quaternion &q)
 rotate the quaternion using another quaternion
Quaternionrotation (int axis, CoordType angle)
 sets the Quaternion to a rotation by angle around axis
Quaternionrotation (const Vector< 3 > &axis, CoordType angle)
 sets the Quaternion to a rotation by angle around the Vector axis
Quaternionrotation (const Vector< 3 > &axis)
 sets the Quaternion to a rotation around the Vector axis
Quaternionrotation (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)
inlineexplicit

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().

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


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