Visual Servoing Platform  version 3.0.1
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Groups Pages
vpQuaternionVector.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
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
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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:
88  vpQuaternionVector(const double qx, const double qy, const double qz,const double qw) ;
92 
94  virtual ~vpQuaternionVector() {};
95 
96  vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw) ;
97  vpQuaternionVector buildFrom(const vpRotationMatrix& R);
98  vpQuaternionVector buildFrom(const vpThetaUVector& tu);
99  void set(const double x, const double y, const double z, const double w) ;
100 
101  double x() const;
102  double y() const;
103  double z() const;
104  double w() const;
105 
106  vpQuaternionVector operator+(const vpQuaternionVector &q) const;
107  vpQuaternionVector operator-(const vpQuaternionVector &q) const;
108  vpQuaternionVector operator-() const;
109  vpQuaternionVector operator*(const double l) const;
111  vpQuaternionVector operator/(const double l) const;
113 
114  vpQuaternionVector conjugate() const;
115  vpQuaternionVector inverse() const;
116  double magnitude() const;
117  void normalize();
118 } ;
119 
120 #endif
vpRotationVector & operator=(const vpRotationVector &v)
Implementation of a generic rotation vector.
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as quaternion angle minimal representation.
virtual ~vpQuaternionVector()
Destructor.
vpColVector operator*(double x) const
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
Implementation of a rotation vector as axis-angle minimal representation.