Visual Servoing Platform  version 3.6.1 under development (2024-03-04)
vpQuaternionVector.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
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4  *
5  * This software is free software; you can redistribute it and/or modify
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8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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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.
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18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Quaternion definition.
32  */
33 
34 #ifndef _vpQuaternionVector_h_
35 #define _vpQuaternionVector_h_
36 
44 #include <visp3/core/vpConfig.h>
45 #include <visp3/core/vpRotationMatrix.h>
46 #include <visp3/core/vpRotationVector.h>
47 #include <visp3/core/vpThetaUVector.h>
48 
104 class VISP_EXPORT vpQuaternionVector : public vpRotationVector
105 {
106 private:
107  static const double minimum;
108 
109 public:
112  vpQuaternionVector(const double qx, const double qy, const double qz, const double qw);
113  explicit vpQuaternionVector(const vpRotationMatrix &R);
114  explicit vpQuaternionVector(const vpThetaUVector &tu);
115  explicit vpQuaternionVector(const vpColVector &q);
116  explicit vpQuaternionVector(const std::vector<double> &q);
117 
118  vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw);
119  vpQuaternionVector buildFrom(const vpRotationMatrix &R);
120  vpQuaternionVector buildFrom(const vpThetaUVector &tu);
121  vpQuaternionVector buildFrom(const vpColVector &q);
122  vpQuaternionVector buildFrom(const std::vector<double> &q);
123  void set(double x, double y, double z, double w);
124 
125  const double &x() const;
126  const double &y() const;
127  const double &z() const;
128  const double &w() const;
129 
130  double &x();
131  double &y();
132  double &z();
133  double &w();
134 
135  vpQuaternionVector operator+(const vpQuaternionVector &q) const;
136  vpQuaternionVector operator-(const vpQuaternionVector &q) const;
137  vpQuaternionVector operator-() const;
138  vpQuaternionVector operator*(double l) const;
140  vpQuaternionVector operator/(double l) const;
142 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
144  vpQuaternionVector &operator=(const std::initializer_list<double> &list);
145 #endif
146 
147  vpQuaternionVector conjugate() const;
148  vpQuaternionVector inverse() const;
149  double magnitude() const;
150  void normalize();
151 
152  static double dot(const vpQuaternionVector &q0, const vpQuaternionVector &q1);
153 
154  static vpQuaternionVector lerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t);
155  static vpQuaternionVector nlerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t);
156  static vpQuaternionVector slerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t);
157 };
158 
159 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of a rotation vector as quaternion angle minimal representation.
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.