mrpt::math::CQuaternion< T > Class Template Reference

General functions for quaternion. More...

#include <mrpt/math/CQuaternion.h>

Inheritance diagram for mrpt::math::CQuaternion< T >:

Collaboration diagram for mrpt::math::CQuaternion< T >:

List of all members.

Public Member Functions
	CQuaternion ()
	Default constructor: construct a (0,0,0,0) quaternion representing no rotation.
	CQuaternion (const T r, const T x, const T y, const T z)
	Construct a quaternion from its parameters 'r', 'x', 'y', 'z', with q = r + ix + jy + kz.
template<class ARRAYLIKE >
	CQuaternion (const ARRAYLIKE &in)
	Construct a quaternion from a 3D input vector (Rodrigues rotation 3-vector).
T	r () const
	Return r coordinate of the quaternion.
T	x () const
	Return x coordinate of the quaternion.
T	y () const
	Return y coordinate of the quaternion.
T	z () const
	Return z coordinate of the quaternion.
void	r (const T r)
	Set r coordinate of the quaternion.
void	x (const T x)
	Set x coordinate of the quaternion.
void	y (const T y)
	Set y coordinate of the quaternion.
void	z (const T z)
	Set z coordinate of the quaternion.
template<class ARRAYLIKE >
void	fromRodriguesVector (const ARRAYLIKE &in)
	Set this quaternion to the rotation described by a 3D Rodrigues rotation vector.
void	crossProduct (const CQuaternion &qin1, const CQuaternion &qin2)
	Calculate the cross product of two quaternion: this = qin1 x qin2.
void	normalize ()
	Normalize this quaternion.
template<class MATRIXLIKE >
void	normalizedJacobian (MATRIXLIKE &J) const
	Calculate the normalized 4x4 Jacobian of a quaternion The output matrix can be a dynamic or fixed size (4x4) matrix.
template<class MATRIXLIKE >
void	rotationMatrix (MATRIXLIKE &M) const
	Calculate the 3x3 rotation matrix associated to this quaternion.
void	conj (CQuaternion &q_out) const
	Return the conjugate quaternion.
CQuaternion	conj () const
	Return the conjugate quaternion.
void	rpy (T &roll, T &pitch, T &yaw) const
	Return the yaw, pitch & roll angles associated to quaternion.
CQuaternion	operator* (const T &factor)
Private Types
typedef CArrayNumeric< T, 4 >	BASE

---

Detailed Description

template<class T>
class mrpt::math::CQuaternion< T >

General functions for quaternion.

This quaternion class represents a 3D rotation as a complex vector with 3 imaginary parts x, y, z and 1 real part r. Where q = r + ix + jy + kz.

For more information about quaternions, see:

• http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation

Definition at line 47 of file CQuaternion.h.

---

Member Typedef Documentation

template<class T >

typedef CArrayNumeric<T,4> mrpt::math::CQuaternion< T >::BASE [private]

Definition at line 49 of file CQuaternion.h.

---

Constructor & Destructor Documentation

template<class T >

mrpt::math::CQuaternion< T >::CQuaternion

(

)

[inline]

Default constructor: construct a (0,0,0,0) quaternion representing no rotation.

Definition at line 55 of file CQuaternion.h.

template<class T >

mrpt::math::CQuaternion< T >::CQuaternion	(	const T	r,
		const T	x,
		const T	y,
		const T	z
	)			[inline]

Construct a quaternion from its parameters 'r', 'x', 'y', 'z', with q = r + ix + jy + kz.

Definition at line 58 of file CQuaternion.h.

template<class T >

template<class ARRAYLIKE >

mrpt::math::CQuaternion< T >::CQuaternion

(

const ARRAYLIKE &

in

)

[inline]

Construct a quaternion from a 3D input vector (Rodrigues rotation 3-vector).

Definition at line 69 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::fromRodriguesVector().

---

Member Function Documentation

template<class T >

void mrpt::math::CQuaternion< T >::conj

(

CQuaternion< T > &

q_out

)

const [inline]

Return the conjugate quaternion.

Definition at line 191 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

template<class T >

CQuaternion mrpt::math::CQuaternion< T >::conj

(

)

const [inline]

Return the conjugate quaternion.

Definition at line 200 of file CQuaternion.h.

template<class T >

void mrpt::math::CQuaternion< T >::crossProduct	(	const CQuaternion< T > &	qin1,
		const CQuaternion< T > &	qin2
	)			[inline]

Calculate the cross product of two quaternion: this = qin1 x qin2.

Definition at line 118 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::normalize(), mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

template<class T >

template<class ARRAYLIKE >

void mrpt::math::CQuaternion< T >::fromRodriguesVector

(

const ARRAYLIKE &

in

)

[inline]

Set this quaternion to the rotation described by a 3D Rodrigues rotation vector.

Definition at line 90 of file CQuaternion.h.

References THROW_EXCEPTION, mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::math::CQuaternion< T >::CQuaternion().

template<class T >

void mrpt::math::CQuaternion< T >::normalize

(

)

[inline]

Normalize this quaternion.

Definition at line 140 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::utils::square(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::math::CQuaternion< T >::crossProduct().

template<class T >

template<class MATRIXLIKE >

void mrpt::math::CQuaternion< T >::normalizedJacobian

(

MATRIXLIKE &

J

)

const [inline]

Calculate the normalized 4x4 Jacobian of a quaternion The output matrix can be a dynamic or fixed size (4x4) matrix.

JL: TODO: Document, the jacobian of what wrt what!?!?

Definition at line 152 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::utils::square(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

template<class T >

CQuaternion mrpt::math::CQuaternion< T >::operator*

(

const T &

factor

)

[inline]

Definition at line 218 of file CQuaternion.h.

template<class T >

void mrpt::math::CQuaternion< T >::r

(

const T

r

)

[inline]

Set r coordinate of the quaternion.

Definition at line 82 of file CQuaternion.h.

template<class T >

T mrpt::math::CQuaternion< T >::r

(

)

const [inline]

Return r coordinate of the quaternion.

Definition at line 78 of file CQuaternion.h.

Referenced by mrpt::math::CQuaternion< T >::conj(), mrpt::math::CQuaternion< T >::crossProduct(), mrpt::math::CQuaternion< T >::normalize(), mrpt::math::CQuaternion< T >::normalizedJacobian(), mrpt::math::CQuaternion< T >::rotationMatrix(), and mrpt::math::CQuaternion< T >::rpy().

template<class T >

template<class MATRIXLIKE >

void mrpt::math::CQuaternion< T >::rotationMatrix

(

MATRIXLIKE &

M

)

const [inline]

Calculate the 3x3 rotation matrix associated to this quaternion.

Definition at line 182 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

template<class T >

void mrpt::math::CQuaternion< T >::rpy	(	T &	roll,
		T &	pitch,
		T &	yaw
	)			const [inline]

Return the yaw, pitch & roll angles associated to quaternion.

Definition at line 209 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

template<class T >

T mrpt::math::CQuaternion< T >::x

(

)

const [inline]

Return x coordinate of the quaternion.

Definition at line 79 of file CQuaternion.h.

Referenced by mrpt::math::CQuaternion< T >::conj(), mrpt::math::CQuaternion< T >::crossProduct(), mrpt::math::CQuaternion< T >::fromRodriguesVector(), mrpt::math::CQuaternion< T >::normalize(), mrpt::math::CQuaternion< T >::normalizedJacobian(), mrpt::math::CQuaternion< T >::rotationMatrix(), and mrpt::math::CQuaternion< T >::rpy().

template<class T >

void mrpt::math::CQuaternion< T >::x

(

const T

x

)

[inline]

Set x coordinate of the quaternion.

Definition at line 83 of file CQuaternion.h.

template<class T >

T mrpt::math::CQuaternion< T >::y

(

)

const [inline]

Return y coordinate of the quaternion.

Definition at line 80 of file CQuaternion.h.

Referenced by mrpt::math::CQuaternion< T >::conj(), mrpt::math::CQuaternion< T >::crossProduct(), mrpt::math::CQuaternion< T >::fromRodriguesVector(), mrpt::math::CQuaternion< T >::normalize(), mrpt::math::CQuaternion< T >::normalizedJacobian(), mrpt::math::CQuaternion< T >::rotationMatrix(), and mrpt::math::CQuaternion< T >::rpy().

template<class T >

void mrpt::math::CQuaternion< T >::y

(

const T

y

)

[inline]

Set y coordinate of the quaternion.

Definition at line 84 of file CQuaternion.h.

template<class T >

T mrpt::math::CQuaternion< T >::z

(

)

const [inline]

Return z coordinate of the quaternion.

Definition at line 81 of file CQuaternion.h.

Referenced by mrpt::math::CQuaternion< T >::conj(), mrpt::math::CQuaternion< T >::crossProduct(), mrpt::math::CQuaternion< T >::fromRodriguesVector(), mrpt::math::CQuaternion< T >::normalize(), mrpt::math::CQuaternion< T >::normalizedJacobian(), mrpt::math::CQuaternion< T >::rotationMatrix(), and mrpt::math::CQuaternion< T >::rpy().

template<class T >

void mrpt::math::CQuaternion< T >::z

(

const T

z

)

[inline]

Set z coordinate of the quaternion.

Definition at line 85 of file CQuaternion.h.