Quaternion< T > Struct Template Reference

Collaboration diagram for Quaternion< T >:

[legend]List of all members.

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Detailed Description

template<class T>
struct Quaternion< T >

A Quaternion can be used to either represent a rotational axis and a Rotation, or, the point which will be rotated

Definition at line 67 of file transformation3.hh.

Public Member Functions
	Quaternion ()
	Quaternion (const Vector3< T > &pose)
	Quaternion (const T _w, const T _x, const T _y, const T _z)
	Quaternion (const T _roll_x_phi, const T _pitch_y_theta, const T _yaw_z_psi)
Quaternion< T >	conjugated () const
Quaternion< T >	normalized () const
Quaternion< T >	inverse () const
	Quaternion (const Vector3< T > &axis, const T &angle)
Quaternion< T >	rotateThisAlong (const Vector3< T > &axis, const T alpha) const
Quaternion< T >	rotatePoint (const Quaternion &p) const
Vector3< T >	rotatePoint (const Vector3< T > &p) const
Quaternion	withRotation (const T alpha) const
Vector3< T >	toAngles () const
Vector3< T >	axis () const
T	angle () const
T	norm () const
T	re () const
Vector3< T >	im () const
Public Attributes
T	w
T	x
T	y
T	z

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Constructor & Destructor Documentation

template<class T>

Quaternion< T >::Quaternion

(

)

Default Constructor: w=x=y=z=0;

template<class T>

Quaternion< T >::Quaternion

(

const Vector3< T > &

pose

)

The Quaternion representation of the point "pose"

template<class T>

Quaternion< T >::Quaternion	(	const T	_w,
		const T	_x,
		const T	_y,
		const T	_z
	)

create a Quaternion by scalar w and the imaginery parts x,y, and z.

template<class T>

Quaternion< T >::Quaternion	(	const T	_roll_x_phi,
		const T	_pitch_y_theta,
		const T	_yaw_z_psi
	)

create a rotational Quaternion, roll along x-axis, pitch along y-axis and yaw along z-axis

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Member Function Documentation

template<class T>

Quaternion<T> Quaternion< T >::conjugated

(

)

const [inline]

Returns:

the conjugated version of this quaternion

template<class T>

Quaternion<T> Quaternion< T >::normalized

(

)

const [inline]

Returns:

this quaternion, but normalized

template<class T>

Quaternion<T> Quaternion< T >::inverse

(

)

const [inline]

Returns:

the inverse of this Quaternion

template<class T>

Quaternion<T> Quaternion< T >::rotateThisAlong	(	const Vector3< T > &	axis,
		const T	alpha
	)			const [inline]

if this Quaternion represents a point, use this function to rotate the point along <axis> with angle <alpha>

Parameters:

	axis	the rotational axis
	alpha	rotational angle

template<class T>

Quaternion<T> Quaternion< T >::rotatePoint

(

const Quaternion< T > &

p

)

const [inline]

if this Quaternion represents a rotational axis + rotation, use this function to rotate another point represented as a Quaternion p

Parameters:

p

the point to be rotated by <this>. Point is represented as a Quaternion

Returns:

rotated Point (represented as a Quaternion)

template<class T>

Vector3<T> Quaternion< T >::rotatePoint

(

const Vector3< T > &

p

)

const [inline]

if this Quaternion represents a rotational axis + rotation, use this function to rotate another point

Parameters:

p

the point to be rotated by <this>.

Returns:

rotated Point

template<class T>

Quaternion Quaternion< T >::withRotation

(

const T

alpha

)

const [inline]

if this Quaternion represents a rotational axis, add a rotation of angle <alpha> along <this> axis to the Quaternion

Parameters:

alpha

rotational value

Returns:

this Quaternion with included information about the rotation along <this> axis

template<class T>

Vector3<T> Quaternion< T >::toAngles

(

)

const [inline]

Given rotational axis x,y,z, get the rotation along these axis encoded in this Quaternion

Returns:

rotation along x,y,z axis encoded in <this> Quaternion

template<class T>

T Quaternion< T >::norm

(

)

const [inline]

Returns:

the norm of this Quaternion

template<class T>

T Quaternion< T >::re

(

)

const [inline]

Returns:

the real part (==w) of this Quaternion

template<class T>

Vector3<T> Quaternion< T >::im

(

)

const [inline]

Returns:

the imaginery part (== (x,y,z)) of this Quaternion

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The documentation for this struct was generated from the following file:

• transformation3.hh

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