sdf::Quaternion Class Reference

A quaternion class. More...

#include <Types.hh>

Public Member Functions
	Quaternion ()
	Default Constructor.
	Quaternion (const Quaternion &_q)
	Copy constructor.
	Quaternion (const double &_roll, const double &_pitch, const double &_yaw)
	Quaternion (double _w, double _x, double _y, double _z)
	Constructor.
void	Correct ()
Vector3	GetAsEuler () const
	Return the rotation in Euler angles.
Quaternion	GetInverse () const
	Get the inverse of this quaternion.
void	Normalize ()
	Normalize the quaternion.
Quaternion	operator* (const Quaternion &_q) const
	Multiplication operator.
Vector3	operator* (const Vector3 &_v) const
	Vector3 multiplication operator.
Quaternion &	operator= (const Quaternion &_qt)
	Equal operator.
bool	operator== (const Quaternion &_qt) const
	Equal to operator.
Vector3	RotateVector (const Vector3 &_vec) const
	Rotate a vector using the quaternion.
void	SetFromEuler (const Vector3 &_vec)
	Set the quaternion from Euler angles.

Static Public Member Functions
static Quaternion	EulerToQuaternion (double _x, double _y, double _z)
	Convert euler angles to quatern.
static Quaternion	EulerToQuaternion (const Vector3 &_vec)
	Convert euler angles to quatern.

Public Attributes
double	w
	w data
double	x
	x data
double	y
	y data
double	z
	z data

Friends
std::ostream &	operator<< (std::ostream &_out, const Quaternion &_q)
	Stream insertion operator.
std::istream &	operator>> (std::istream &_in, Quaternion &_q)
	Stream extraction operator.

Detailed Description

A quaternion class.

Constructor & Destructor Documentation

sdf::Quaternion::Quaternion ( )

inline

Default Constructor.

sdf::Quaternion::Quaternion ( const Quaternion &  _q )

inline

Copy constructor.

Parameters

[in]

_q

Quaternion to copy

sdf::Quaternion::Quaternion ( const double &  _roll, const double &  _pitch, const double &  _yaw  )

inline

sdf::Quaternion::Quaternion ( double  _w, double  _x, double  _y, double  _z  )

inline

Constructor.

Parameters

[in]	_w	W param
[in]	_x	X param
[in]	_y	Y param
[in]	_z	Z param

Member Function Documentation

void sdf::Quaternion::Correct ( )

inline

References sdf::equal().

static Quaternion sdf::Quaternion::EulerToQuaternion ( double  _x, double  _y, double  _z  )

inlinestatic

Convert euler angles to quatern.

Parameters

[in]	_x	rotation along x
[in]	_y	rotation along y
[in]	_z	rotation along z

static Quaternion sdf::Quaternion::EulerToQuaternion ( const Vector3 &  _vec )

inlinestatic

Convert euler angles to quatern.

Parameters

[in]

_vec

Vector of Euler angles

References SetFromEuler().

Vector3 sdf::Quaternion::GetAsEuler ( ) const

inline

Return the rotation in Euler angles.

Returns

This quaternion as an Euler vector

References Normalize(), w, sdf::Vector3::x, x, sdf::Vector3::y, y, sdf::Vector3::z, and z.

Referenced by operator==().

Quaternion sdf::Quaternion::GetInverse ( ) const

inline

Get the inverse of this quaternion.

Returns

Inverse quarenion

References sdf::equal(), w, x, y, and z.

Referenced by sdf::Pose::CoordPositionAdd().

void sdf::Quaternion::Normalize ( )

inline

Normalize the quaternion.

References sdf::equal().

Referenced by GetAsEuler().

Quaternion sdf::Quaternion::operator* ( const Quaternion &  _q ) const

inline

Multiplication operator.

Parameters

[in]

_qt

Quaternion for multiplication

Returns

This quaternion multiplied by the parameter

References w, x, y, and z.

Vector3 sdf::Quaternion::operator* ( const Vector3 &  _v ) const

inline

Vector3 multiplication operator.

Parameters

[in]

_v

vector to multiply

References sdf::Vector3::Cross().

Quaternion& sdf::Quaternion::operator= ( const Quaternion &  _qt )

inline

Equal operator.

Parameters

[in]

_qt

Quaternion to copy

References w, x, y, and z.

bool sdf::Quaternion::operator== ( const Quaternion &  _qt ) const

inline

Equal to operator.

Parameters

[in]

_qt

Quaternion for comparison

Returns

True if equal

References GetAsEuler().

Vector3 sdf::Quaternion::RotateVector ( const Vector3 &  _vec ) const

inline

Rotate a vector using the quaternion.

Parameters

[in]

_vec

vector to rotate

Returns

the rotated vector

References sdf::Vector3::x, x, sdf::Vector3::y, y, sdf::Vector3::z, and z.

void sdf::Quaternion::SetFromEuler ( const Vector3 &  _vec )

inline

Set the quaternion from Euler angles.

Parameters

[in]

_vec

Euler angle

References sdf::Vector3::x, sdf::Vector3::y, and sdf::Vector3::z.

Referenced by EulerToQuaternion().

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  _out, const Quaternion &  _q  )

friend

Stream insertion operator.

Parameters

[in]	_out	output stream
[in]	_q	quaternion to output

Returns

the stream

std::istream& operator>> ( std::istream &  _in, Quaternion &  _q  )

friend

Stream extraction operator.

Parameters

[in]	_in	input stream
[in]	_q	Quaternion to read values into

Returns

The istream

Member Data Documentation

double sdf::Quaternion::w

w data

Referenced by sdf::Pose::CoordPositionAdd(), GetAsEuler(), GetInverse(), operator*(), and operator=().

double sdf::Quaternion::x

x data

Referenced by sdf::Pose::CoordPositionAdd(), GetAsEuler(), GetInverse(), operator*(), operator=(), and RotateVector().

double sdf::Quaternion::y

y data

Referenced by sdf::Pose::CoordPositionAdd(), GetAsEuler(), GetInverse(), operator*(), operator=(), and RotateVector().

double sdf::Quaternion::z

z data

Referenced by sdf::Pose::CoordPositionAdd(), GetAsEuler(), GetInverse(), operator*(), operator=(), and RotateVector().

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

• Types.hh