Quaternion

Quaternion for representing rotations. More...

Static Functions
static Quaternion	FromAngleAxis (double angle, const Vector3d &axis)
	Creates a quaternion from an axis angle representation.
static Quaternion	FromMatrix (const double *const matrix)
	Matrix to Quaternion.

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

Attributes
Vector3d	V
	Vector3d (imaginary) component of Quaternion. 1->x, 2->y, 3->z. Do not modify this unless you know what you are doing.
double	W
	W (real component) of Quaternion. Do not modify this unless you know what you are doing.

Description

Definition at line 194 of file cartesianrobot.h.