#include <vpQuaternionVector.h>

Inheritance diagram for vpQuaternionVector:

Public Member Functions
	vpQuaternionVector ()

	vpQuaternionVector (const vpQuaternionVector &q)

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

	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)

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 &) constructor 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 ( )

inline

Default constructor that initialize all the angles to zero.

Definition at line 86 of file vpQuaternionVector.h.

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

vpQuaternionVector::vpQuaternionVector ( const vpQuaternionVector & q )

inline

Copy constructor.

Definition at line 88 of file vpQuaternionVector.h.

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

Constructor from doubles.

Definition at line 59 of file vpQuaternionVector.cpp.

vpQuaternionVector::vpQuaternionVector ( const vpRotationMatrix & R )

Constructs a quaternion from a rotation matrix.

Parameters

R	: Matrix containing a rotation.

Definition at line 71 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 142 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 117 of file vpRotationVector.cpp.

References vpRotationVector::_size, and vpRotationVector::r.

vpQuaternionVector vpQuaternionVector::operator* ( const double l )

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

Definition at line 124 of file vpQuaternionVector.cpp.

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

vpQuaternionVector vpQuaternionVector::operator* ( vpQuaternionVector & rq )

Multiply two quaternions.

Definition at line 130 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 101 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 112 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 118 of file vpQuaternionVector.cpp.

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

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 130 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 135 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 84 of file vpQuaternionVector.cpp.

References vpRotationVector::r.

Referenced by buildFrom().

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::operator=().

vpRowVector vpRotationVector::t ( ) const

inherited

Return the transpose of the rotation vector.