Visual Servoing Platform  version 3.1.0
vpQuaternionVector.h
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11  * distribution for additional information about the GNU GPL.
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15  * Edition License.
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20  * Inria Rennes - Bretagne Atlantique
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Quaternion definition.
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
38 
39 #ifndef __QUATERNIONVECTOR_H__
40 #define __QUATERNIONVECTOR_H__
41 
50 #include <visp3/core/vpConfig.h>
51 #include <visp3/core/vpRotationMatrix.h>
52 #include <visp3/core/vpRotationVector.h>
53 #include <visp3/core/vpThetaUVector.h>
54 
79 class VISP_EXPORT vpQuaternionVector : public vpRotationVector
80 {
81 private:
82  static const double minimum;
83 
84 public:
87  vpQuaternionVector(const double qx, const double qy, const double qz, const double qw);
88  explicit vpQuaternionVector(const vpRotationMatrix &R);
89  explicit vpQuaternionVector(const vpThetaUVector &tu);
90  explicit vpQuaternionVector(const vpColVector &q);
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;
110  vpQuaternionVector operator/(const double l) const;
112 
113  vpQuaternionVector conjugate() const;
114  vpQuaternionVector inverse() const;
115  double magnitude() const;
116  void normalize();
117 };
118 
119 #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.