Visual Servoing Platform  version 3.6.0 under development (2023-09-29)
vpQuaternionVector.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
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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 
34 #ifndef _vpQuaternionVector_h_
35 #define _vpQuaternionVector_h_
36 
45 #include <visp3/core/vpConfig.h>
46 #include <visp3/core/vpRotationMatrix.h>
47 #include <visp3/core/vpRotationVector.h>
48 #include <visp3/core/vpThetaUVector.h>
49 
106 class VISP_EXPORT vpQuaternionVector : public vpRotationVector
107 {
108 private:
109  static const double minimum;
110 
111 public:
114  vpQuaternionVector(const double qx, const double qy, const double qz, const double qw);
115  explicit vpQuaternionVector(const vpRotationMatrix &R);
116  explicit vpQuaternionVector(const vpThetaUVector &tu);
117  explicit vpQuaternionVector(const vpColVector &q);
118  explicit vpQuaternionVector(const std::vector<double> &q);
119 
122 
123  vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw);
124  vpQuaternionVector buildFrom(const vpRotationMatrix &R);
125  vpQuaternionVector buildFrom(const vpThetaUVector &tu);
126  vpQuaternionVector buildFrom(const vpColVector &q);
127  vpQuaternionVector buildFrom(const std::vector<double> &q);
128  void set(double x, double y, double z, double w);
129 
130  const double& x() const;
131  const double& y() const;
132  const double& z() const;
133  const double& w() const;
134 
135  double& x();
136  double& y();
137  double& z();
138  double& w();
139 
140  vpQuaternionVector operator+(const vpQuaternionVector &q) const;
141  vpQuaternionVector operator-(const vpQuaternionVector &q) const;
142  vpQuaternionVector operator-() const;
143  vpQuaternionVector operator*(double l) const;
145  vpQuaternionVector operator/(double l) const;
147 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
149  vpQuaternionVector &operator=(const std::initializer_list<double> &list);
150 #endif
151 
152  vpQuaternionVector conjugate() const;
153  vpQuaternionVector inverse() const;
154  double magnitude() const;
155  void normalize();
156 
157  static double dot(const vpQuaternionVector& q0, const vpQuaternionVector& q1);
158 
159  static vpQuaternionVector lerp(const vpQuaternionVector& q0, const vpQuaternionVector& q1, double t);
160  static vpQuaternionVector nlerp(const vpQuaternionVector& q0, const vpQuaternionVector& q1, double t);
161  static vpQuaternionVector slerp(const vpQuaternionVector& q0, const vpQuaternionVector& q1, double t);
162 };
163 
164 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:167
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.