Visual Servoing Platform  version 3.0.0
vpQuaternionVector.h
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3  * This file is part of the ViSP software.
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9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
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25  * Inria at visp@inria.fr
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Quaternion definition.
32  *
33  * Authors:
34  * Filip Novotny
35  *
36  *****************************************************************************/
37 
38 
39 
40 #ifndef __QUATERNIONVECTOR_H__
41 #define __QUATERNIONVECTOR_H__
42 
51 #include <visp3/core/vpConfig.h>
52 #include <visp3/core/vpRotationMatrix.h>
53 #include <visp3/core/vpRotationVector.h>
54 #include <visp3/core/vpThetaUVector.h>
55 
56 
81 class VISP_EXPORT vpQuaternionVector : public vpRotationVector
82 {
83 private:
84  static const double minimum;
85 public:
86  vpQuaternionVector();
87  vpQuaternionVector(const vpQuaternionVector &q);
88  vpQuaternionVector(const double qx, const double qy, const double qz,const double qw) ;
89  vpQuaternionVector(const vpRotationMatrix &R);
90  vpQuaternionVector(const vpThetaUVector& tu) ;
91 
93  virtual ~vpQuaternionVector() {};
94 
95  vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw) ;
96  vpQuaternionVector buildFrom(const vpRotationMatrix& R);
97  vpQuaternionVector buildFrom(const vpThetaUVector& tu);
98  void set(const double x, const double y, const double z, const double w) ;
99 
100  double x() const;
101  double y() const;
102  double z() const;
103  double w() const;
104 
105  vpQuaternionVector operator+(const vpQuaternionVector &q) const;
106  vpQuaternionVector operator-(const vpQuaternionVector &q) const;
107  vpQuaternionVector operator-() const;
108  vpQuaternionVector operator*(const double l) const;
109  vpQuaternionVector operator*(const vpQuaternionVector &rq) const;
110  vpQuaternionVector operator/(const double l) const;
111 
112  vpQuaternionVector conjugate() const;
113  vpQuaternionVector inverse() const;
114  double magnitude() const;
115  void normalize();
116 } ;
117 
118 #endif
vpRotationVector
Implementation of a generic rotation vector.
Definition: vpRotationVector.h:94
vpRotationMatrix
Implementation of a rotation matrix and operations on such kind of matrices.
Definition: vpRotationMatrix.h:70
vpQuaternionVector
Implementation of a rotation vector as quaternion angle minimal representation.
Definition: vpQuaternionVector.h:81
vpQuaternionVector::~vpQuaternionVector
virtual ~vpQuaternionVector()
Destructor.
Definition: vpQuaternionVector.h:93
vpRotationVector::operator*
vpColVector operator*(double x) const
Definition: vpRotationVector.cpp:76
vpThetaUVector
Implementation of a rotation vector as axis-angle minimal representation.
Definition: vpThetaUVector.h:147