Visual Servoing Platform  version 3.6.1 under development (2024-10-15)
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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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 
41 #ifndef VP_QUATERNION_VECTOR_H
42 #define VP_QUATERNION_VECTOR_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 
49 BEGIN_VISP_NAMESPACE
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  VP_EXPLICIT vpQuaternionVector(const vpRotationMatrix &R);
112  VP_EXPLICIT vpQuaternionVector(const vpThetaUVector &tu);
113  VP_EXPLICIT vpQuaternionVector(const vpColVector &q);
114  VP_EXPLICIT vpQuaternionVector(const std::vector<double> &q);
115 
116  vpQuaternionVector &buildFrom(const double &qx, const double &qy, const double &qz, const double &qw);
117  vpQuaternionVector &buildFrom(const vpRotationMatrix &R);
118  vpQuaternionVector &buildFrom(const vpThetaUVector &tu);
119  vpQuaternionVector &buildFrom(const vpColVector &q);
120  vpQuaternionVector &buildFrom(const std::vector<double> &q);
121 
122  void set(double x, double y, double z, double w);
123 
124  const double &x() const;
125  const double &y() const;
126  const double &z() const;
127  const double &w() const;
128 
129  double &x();
130  double &y();
131  double &z();
132  double &w();
133 
134  vpQuaternionVector operator+(const vpQuaternionVector &q) const;
135  vpQuaternionVector operator-(const vpQuaternionVector &q) const;
136  vpQuaternionVector operator-() const;
137  vpQuaternionVector operator*(double l) const;
139  vpQuaternionVector operator/(double l) const;
141 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
143  vpQuaternionVector &operator=(const std::initializer_list<double> &list);
144 #endif
145 
146  vpQuaternionVector conjugate() const;
147  vpQuaternionVector inverse() const;
148  double magnitude() const;
149  void normalize();
150 
151  static double dot(const vpQuaternionVector &q0, const vpQuaternionVector &q1);
152 
153  static vpQuaternionVector lerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t);
154  static vpQuaternionVector nlerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t);
155  static vpQuaternionVector slerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t);
156 
157 private:
158  static const double minimum;
159 
160 };
161 END_VISP_NAMESPACE
162 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
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.