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| Quaternion () |
| Default Constructor. W=1, X=Y=Z=0.
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| Quaternion (const Quaternion &otherQuaternion) |
| Constructor.
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| Quaternion (const Vector3d &rpy, RotationalUnits units=RotationalUnits::Radians) |
| Euler Constructor (Alternate)
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| Quaternion (double w, const Vector3d &v) |
| Constructor.
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| Quaternion (double w, double x, double y, double z) |
| Constructor.
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| Quaternion (double x, double y, double z) |
| Euler Constructor. Assumes RPY in Radians. To use a different unit, use Quaternion::Quaternion(const Vector3d&, RotationalUnits)
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Quaternion | Conjugate () const |
| Negates the imaginary component of the Quaternion.
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double | Dot (const Quaternion &rightHandSide) const |
| Returns the dot product of each element. w*rightHandSide.w+v.dot(rightHandSide.v)
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bool | Equals (const Quaternion &rightHandSide, const double tolerance) const |
| Equality check within tolerance.
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bool | EqualsOrientation (const Quaternion &rightHandSide, const double tolerance) const |
| Equality check within tolerance. For orientations q and -q are considered equal.
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Quaternion | Inverse () const |
| Conjugate scaled by 1 / SumSquares()
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double | Magnitude () const |
| Gets the magnitude of this. sqrt(SumSquares())
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Quaternion & | Normalize () |
| Normalizes this. Scales each component by 1 / magnitude.
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Quaternion | Normalized () const |
| Retunrs a normalized copy of this.
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bool | operator!= (const Quaternion &rightHandSide) const |
| Exact inequality check. See equals for approximately equal to.
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Quaternion | operator* (const Quaternion &rightHandSide) const |
| Multiplication (rotation) operator. Rotates other by this.
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Vector3d | operator* (const Vector3d &rightHandSide) const |
| Multiplication (vector rotation) operator. Rotates vector by this.
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Quaternion | operator* (double s) const |
| Multiplication (scalar) operator. w*s, v*s.
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Quaternion & | operator*= (double s) |
| Multiplication (scalar) assignment operator. See operator*(double)
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Quaternion | operator+ (const Quaternion &rightHandSide) const |
| Adds two quaternions together. this.w + rightHandSide.w, this.v+rightHandSide.v.
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Quaternion & | operator+= (const Quaternion &rightHandSide) |
| Addition assignment. Adds rightHandSide into this. See operator+.
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Quaternion | operator- () const |
| Negates this quaternion (w, and v)
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Quaternion | operator- (const Quaternion &rightHandSide) const |
| Subtraction operator. this.w - rightHandSide.w, this.v-rightHandSide.v.
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Quaternion & | operator-= (const Quaternion &rightHandSide) |
| Subtraction assignment. Subtracts other from this. See operator-.
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Quaternion & | operator= (const Quaternion &rightHandSide) |
| Assignment operator. Copies underlying.
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bool | operator== (const Quaternion &rightHandSide) const |
| Exact equality check. See equals for approximately equal to.
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Quaternion & | Set (const Quaternion &otherQuaternion) |
| Assigns other into this.
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Quaternion & | Set (const Vector3d &vec, RotationalUnits units=RotationalUnits::Radians) |
| Assigns the quaternion defined by the Euler Angles into this.
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Quaternion & | Set (double w, const Vector3d &vec) |
| Assigns other into this.
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Quaternion & | Set (double w, double x, double y, double z) |
| Assigns each component into this.
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Quaternion & | Set (double x, double y, double z) |
| Assigns the quaternion defined by the Euler angles into this. Assumes RPY in Radians. To use a different unit, use Quaternion::Set(const Vector3d&, RotationalUnits) If you get unexpected values, try negating the returned quaternion (change the direction of rotation)
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double | SumSquares () const |
| Gets the sum of the components squared (w*w+this.dot(this))
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void | ToAngleAxis (double &outAngle, Vector3d &outAxis) const |
| Gets the axis angle representation of this quaternion.
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Vector3d | ToEuler (RotationalUnits units=RotationalUnits::Radians) const |
| Gets the Euler Angle representation of this quaternion.
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void | ToMatrix (double *matrix) const |
| Quaternion To Matrix.
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- Examples
- PathMotion.cs.
Definition at line 194 of file cartesianrobot.h.