Visual Servoing Platform  version 3.5.1 under development (2022-12-06)
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 
111 class VISP_EXPORT vpQuaternionVector : public vpRotationVector
112 {
113 private:
114  static const double minimum;
115 
116 public:
119  vpQuaternionVector(const double qx, const double qy, const double qz, const double qw);
120  explicit vpQuaternionVector(const vpRotationMatrix &R);
121  explicit vpQuaternionVector(const vpThetaUVector &tu);
122  explicit vpQuaternionVector(const vpColVector &q);
123  explicit vpQuaternionVector(const std::vector<double> &q);
124 
126  virtual ~vpQuaternionVector(){};
127 
128  vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw);
129  vpQuaternionVector buildFrom(const vpRotationMatrix &R);
130  vpQuaternionVector buildFrom(const vpThetaUVector &tu);
131  vpQuaternionVector buildFrom(const vpColVector &q);
132  vpQuaternionVector buildFrom(const std::vector<double> &q);
133  void set(double x, double y, double z, double w);
134 
135  const double& x() const;
136  const double& y() const;
137  const double& z() const;
138  const double& w() const;
139 
140  double& x();
141  double& y();
142  double& z();
143  double& w();
144 
145  vpQuaternionVector operator+(const vpQuaternionVector &q) const;
146  vpQuaternionVector operator-(const vpQuaternionVector &q) const;
147  vpQuaternionVector operator-() const;
148  vpQuaternionVector operator*(double l) const;
150  vpQuaternionVector operator/(double l) const;
152 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
154  vpQuaternionVector &operator=(const std::initializer_list<double> &list);
155 #endif
156 
157  vpQuaternionVector conjugate() const;
158  vpQuaternionVector inverse() const;
159  double magnitude() const;
160  void normalize();
161 
162  static double dot(const vpQuaternionVector& q0, const vpQuaternionVector& q1);
163 
164  static vpQuaternionVector lerp(const vpQuaternionVector& q0, const vpQuaternionVector& q1, double t);
165  static vpQuaternionVector nlerp(const vpQuaternionVector& q0, const vpQuaternionVector& q1, double t);
166  static vpQuaternionVector slerp(const vpQuaternionVector& q0, const vpQuaternionVector& q1, double t);
167 };
168 
169 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of a rotation vector as quaternion angle minimal representation.
virtual ~vpQuaternionVector()
Destructor.
vpQuaternionVector & operator=(const vpQuaternionVector &q)=default
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a generic rotation vector.
vpRotationVector & operator=(const vpRotationVector &v)
vpColVector operator*(double x) const
Implementation of a rotation vector as axis-angle minimal representation.