Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpQuaternionVector.h
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30  *
31  * Description:
32  * Quaternion definition.
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
38 
39 #ifndef _vpQuaternionVector_h_
40 #define _vpQuaternionVector_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  explicit vpQuaternionVector(const std::vector<double> &q);
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  vpQuaternionVector buildFrom(const vpColVector &q);
100  vpQuaternionVector buildFrom(const std::vector<double> &q);
101  void set(const double x, const double y, const double z, const double w);
102 
103  double x() const;
104  double y() const;
105  double z() const;
106  double w() const;
107 
108  vpQuaternionVector operator+(const vpQuaternionVector &q) const;
109  vpQuaternionVector operator-(const vpQuaternionVector &q) const;
110  vpQuaternionVector operator-() const;
111  vpQuaternionVector operator*(const double l) const;
113  vpQuaternionVector operator/(const double l) const;
115 
116  vpQuaternionVector conjugate() const;
117  vpQuaternionVector inverse() const;
118  double magnitude() const;
119  void normalize();
120 };
121 
122 #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.