#include <vpQuaternionVector.h>

Inheritance diagram for vpQuaternionVector:

Public Member Functions
	vpQuaternionVector ()

	vpQuaternionVector (const double x, const double y, const double z, const double w)

	vpQuaternionVector (const vpQuaternionVector &q)

	vpQuaternionVector (const vpRotationMatrix &R)

void	buildFrom (const vpRotationMatrix &R)

void	set (const double x, const double y, const double z, const double w)

double	x () const

double	y () const

double	z () const

double	w () const

vpQuaternionVector	operator+ (vpQuaternionVector &q)

vpQuaternionVector	operator- (vpQuaternionVector &q)

vpQuaternionVector	operator- ()

vpQuaternionVector	operator* (const double l)

vpQuaternionVector	operator* (vpQuaternionVector &rq)

vpQuaternionVector &	operator= (vpQuaternionVector &q)

double &	operator[] (unsigned int n)

const double &	operator[] (unsigned int n) const

unsigned int	size () const

vpRowVector	t () const

Protected Member Functions
void	init (const unsigned int size)

Protected Attributes
double *	r

unsigned int	_size

Detailed Description

Defines a quaternion and its basic operations.

A quaternion is defined by four values: ${\bf q} = (x, y, z, w)$ .

This class allows to compute a quaternion from a rotation matrix using either vpQuaternionVector(const vpRotationMatrix &) contructor or buildFrom() method.

It also defines common operations on a quaternion such as:

multiplication (scalar and quaternion)
addition
substraction.

Definition at line 79 of file vpQuaternionVector.h.

Constructor & Destructor Documentation

vpQuaternionVector::vpQuaternionVector ( )

Definition at line 57 of file vpQuaternionVector.cpp.

Referenced by operator*(), operator+(), and operator-().

vpQuaternionVector::vpQuaternionVector	(	const double	x,
		const double	y,
		const double	z,
		const double	w
	)

Constructor from doubles.

Definition at line 60 of file vpQuaternionVector.cpp.

References set().

vpQuaternionVector::vpQuaternionVector ( const vpQuaternionVector & q )

Copy constructor.

Parameters

q	: quaternion to construct from.

Definition at line 81 of file vpQuaternionVector.cpp.

References vpRotationVector::r, and vpRotationVector::size().

vpQuaternionVector::vpQuaternionVector ( const vpRotationMatrix & R )

Constructs a quaternion from a rotation matrix.

Parameters

R	: Matrix containing a rotation.

Definition at line 72 of file vpQuaternionVector.cpp.

References buildFrom().

Member Function Documentation

void vpQuaternionVector::buildFrom ( const vpRotationMatrix & R )

Constructs a quaternion from a rotation matrix.

Parameters

R	: Rotation matrix.

Definition at line 159 of file vpQuaternionVector.cpp.

References vpThetaUVector::extract(), and set().

Referenced by vpHomogeneousMatrix::extract(), and vpQuaternionVector().

void vpRotationVector::init ( const unsigned int size )

protectedinherited

Definition at line 113 of file vpRotationVector.cpp.

References vpRotationVector::_size, vpRotationVector::r, and vpRotationVector::size().

vpQuaternionVector vpQuaternionVector::operator* ( const double l )

Multiplication by scalar. Returns a quaternion defined by (lx,ly,lz,lw).

Definition at line 134 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

vpQuaternionVector vpQuaternionVector::operator* ( vpQuaternionVector & rq )

Multiply two quaternions.

Definition at line 140 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

vpQuaternionVector vpQuaternionVector::operator+ ( vpQuaternionVector & q )

Quaternion addition.

Adds two quaternions. Addition is component-wise.

Parameters

q	: quaternion to add.

Definition at line 111 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

vpQuaternionVector vpQuaternionVector::operator- ( vpQuaternionVector & q )

Quaternion substraction.

Substracts a quaternion from another. Substraction is component-wise.

Parameters

q	: quaternion to substract.

Definition at line 122 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

vpQuaternionVector vpQuaternionVector::operator- ( void )

Negate operator. Returns a quaternion defined by (-x,-y,-z-,-w).

Definition at line 128 of file vpQuaternionVector.cpp.

References vpQuaternionVector(), w(), x(), y(), and z().

vpQuaternionVector & vpQuaternionVector::operator= ( vpQuaternionVector & q )

Copy operator. Allow operation such as Q = q.

Definition at line 148 of file vpQuaternionVector.cpp.

References vpRotationVector::r, and vpRotationVector::size().

double& vpRotationVector::operator[] ( unsigned int n )

inlineinherited

Operator that allows to set the value of an element of the rotation vector: r[i] = value

Definition at line 120 of file vpRotationVector.h.

const double& vpRotationVector::operator[] ( unsigned int n ) const

inlineinherited

Operator that allows to get the value of an element of the rotation vector: value = r[i]

Definition at line 125 of file vpRotationVector.h.

void vpQuaternionVector::set	(	const double	x,
		const double	y,
		const double	z,
		const double	w
	)

Manually change values of a quaternion.

Parameters

x	: x quaternion parameter.
y	: y quaternion parameter.
z	: z quaternion parameter.
w	: w quaternion parameter.

Definition at line 94 of file vpQuaternionVector.cpp.

References vpRotationVector::r, w(), x(), y(), and z().

Referenced by buildFrom(), and vpQuaternionVector().

unsigned int vpRotationVector::size ( ) const

inherited

Returns the size of the rotation vector

Size of the rotation vector: number of double values describing the rotation. Common sizes are 4 for a quaternion and 3 for angle-based rotation vectors.

Definition at line 71 of file vpRotationVector.cpp.

References vpRotationVector::_size.

Referenced by vpRotationVector::init(), operator=(), and vpQuaternionVector().

vpRowVector vpRotationVector::t ( ) const

inherited

Return the transpose of the rotation vector.