Visual Servoing Platform  version 3.6.1 under development (2024-06-12)
vpQuaternionVector.h
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2  * ViSP, open source Visual Servoing Platform software.
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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
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Quaternion definition.
32  */
33 
41 #ifndef _vpQuaternionVector_h_
42 #define _vpQuaternionVector_h_
43 
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 
105 class VISP_EXPORT vpQuaternionVector : public vpRotationVector
106 {
107 public:
110  vpQuaternionVector(const double qx, const double qy, const double qz, const double qw);
111  explicit vpQuaternionVector(const vpRotationMatrix &R);
112  explicit vpQuaternionVector(const vpThetaUVector &tu);
113  explicit vpQuaternionVector(const vpColVector &q);
114  explicit vpQuaternionVector(const std::vector<double> &q);
115 
116 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
117  vp_deprecated vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw);
118  vp_deprecated vpQuaternionVector buildFrom(const vpRotationMatrix &R);
119  vp_deprecated vpQuaternionVector buildFrom(const vpThetaUVector &tu);
120  vp_deprecated vpQuaternionVector buildFrom(const vpColVector &q);
121  vp_deprecated vpQuaternionVector buildFrom(const std::vector<double> &q);
122 #endif
123  vpQuaternionVector &build(const double &qx, const double &qy, const double &qz, const double &qw);
124  vpQuaternionVector &build(const vpRotationMatrix &R);
125  vpQuaternionVector &build(const vpThetaUVector &tu);
126  vpQuaternionVector &build(const vpColVector &q);
127  vpQuaternionVector &build(const std::vector<double> &q);
128 
129  void set(double x, double y, double z, double w);
130 
131  const double &x() const;
132  const double &y() const;
133  const double &z() const;
134  const double &w() const;
135 
136  double &x();
137  double &y();
138  double &z();
139  double &w();
140 
141  vpQuaternionVector operator+(const vpQuaternionVector &q) const;
142  vpQuaternionVector operator-(const vpQuaternionVector &q) const;
143  vpQuaternionVector operator-() const;
144  vpQuaternionVector operator*(double l) const;
146  vpQuaternionVector operator/(double l) const;
148 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
150  vpQuaternionVector &operator=(const std::initializer_list<double> &list);
151 #endif
152 
153  vpQuaternionVector conjugate() const;
154  vpQuaternionVector inverse() const;
155  double magnitude() const;
156  void normalize();
157 
158  static double dot(const vpQuaternionVector &q0, const vpQuaternionVector &q1);
159 
160  static vpQuaternionVector lerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t);
161  static vpQuaternionVector nlerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t);
162  static vpQuaternionVector slerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t);
163 
164 private:
165  static const double minimum;
166 
167 };
169 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:171
Implementation of a rotation vector as quaternion angle minimal representation.
vpQuaternionVector & operator=(const vpQuaternionVector &)=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.