octomath::Quaternion Class Reference

This class represents a Quaternion. More...

Public Member Functions
Quaternion	inv () const
	Inversion.
Quaternion &	inv_IP ()
	Inversion.
float	norm () const
Quaternion &	normalize ()
Quaternion	normalized () const
const float &	operator() (unsigned int i) const
float &	operator() (unsigned int i)
Quaternion	operator* (const Quaternion &other) const
	Quaternion multiplication.
Quaternion	operator* (const Vector3 &v) const
	Quaternion multiplication with extended vector.
void	operator/= (float x)
Quaternion &	operator= (const Quaternion &other)
bool	operator== (const Quaternion &other) const
	Quaternion (const Quaternion &other)
	Copy constructor.
	Quaternion (const Vector3 &other)
	Constructor.
	Quaternion (double roll, double pitch, double yaw)
	Constructor from Euler angles.
	Quaternion ()
	Default constructor.
	Quaternion (const Vector3 &axis, double angle)
	Constructs a Unit Quaternion from a rotation angle and axis.
	Quaternion (float u, float x, float y, float z)
	Constructor.
std::istream &	read (std::istream &s)
std::istream &	readBinary (std::istream &s)
Vector3	rotate (const Vector3 &v) const
	Rotate a vector.
Vector3	toEuler () const
	Conversion to Euler angles.
void	toRotMatrix (std::vector< double > &rot_matrix_3_3) const
float &	u ()
const float &	u () const
std::ostream &	write (std::ostream &s) const
std::ostream &	writeBinary (std::ostream &s) const
const float &	x () const
float &	x ()
float &	y ()
const float &	y () const
float &	z ()
const float &	z () const
Protected Attributes
float	data [4]
Friends
Quaternion	operator* (const Vector3 &v, const Quaternion &q)
	Quaternion multiplication with extended vector.

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Detailed Description

This class represents a Quaternion.

The Unit Quaternion is one possible representation of the attitude of an object in tree-dimensional space.

This Quaternion class is implemented according to Diebel, James. Representing Attitude: Euler Angle, Unit Quaternions, and Rotation Vectors. Stanford University. 2006. - Technical Report.

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Constructor & Destructor Documentation

octomath::Quaternion::Quaternion

(

)

[inline]

Default constructor.

Constructs the (1,0,0,0) Unit Quaternion representing the identity rotation.

References u(), x(), y(), and z().

Referenced by inv(), operator*(), and Quaternion().

octomath::Quaternion::Quaternion

(

const Quaternion &

other

)

Copy constructor.

References data.

octomath::Quaternion::Quaternion	(	float	u,
		float	x,
		float	y,
		float	z
	)

Constructor.

Constructs a Quaternion from four single values

References u(), x(), y(), and z().

octomath::Quaternion::Quaternion

(

const Vector3 &

other

)

Constructor.

Parameters:

other

a vector containing euler angles

References operator=(), octomath::Vector3::pitch(), Quaternion(), octomath::Vector3::roll(), and octomath::Vector3::yaw().

octomath::Quaternion::Quaternion	(	double	roll,
		double	pitch,
		double	yaw
	)

Constructor from Euler angles.

Constructs a Unit Quaternion from Euler angles / Tait Bryan angles (in radians) according to the 1-2-3 convention.

Parameters:

roll	phi/roll angle (rotation about x-axis)
pitch	theta/pitch angle (rotation about y-axis)
yaw	psi/yaw angle (rotation about z-axis)

References u(), x(), y(), and z().

octomath::Quaternion::Quaternion	(	const Vector3 &	axis,
		double	angle
	)

Constructs a Unit Quaternion from a rotation angle and axis.

References u(), octomath::Vector3::x(), x(), octomath::Vector3::y(), y(), octomath::Vector3::z(), and z().

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Member Function Documentation

Quaternion octomath::Quaternion::inv

(

)

const [inline]

Inversion.

Returns:

A copy of this Quaterion inverted

References Quaternion(), u(), x(), y(), and z().

Referenced by octomath::Pose6D::inv(), octomath::Pose6D::inv_IP(), and rotate().

Quaternion & octomath::Quaternion::inv_IP

(

)

Inversion.

Inverts this Quaternion

Returns:

a reference to this Quaternion

References x(), y(), and z().

float octomath::Quaternion::norm

(

)

const

References operator()().

Referenced by normalize(), toEuler(), and toRotMatrix().

Quaternion & octomath::Quaternion::normalize

(

)

References norm().

Referenced by normalized().

Quaternion octomath::Quaternion::normalized

(

)

const

References normalize().

Referenced by octomath::Pose6D::inv(), octomath::Pose6D::inv_IP(), and octomath::Pose6D::operator*().

const float& octomath::Quaternion::operator()

(

unsigned int

i

)

const [inline]

References data.

Referenced by norm(), readBinary(), and writeBinary().

float& octomath::Quaternion::operator()

(

unsigned int

i

)

[inline]

References data.

Quaternion octomath::Quaternion::operator*

(

const Quaternion &

other

)

const

Quaternion multiplication.

Standard Quaternion multiplication which is not commutative.

Returns:

this * other

References Quaternion(), u(), x(), y(), and z().

Quaternion octomath::Quaternion::operator*

(

const Vector3 &

v

)

const

Quaternion multiplication with extended vector.

Returns:

q * (0, v)

References Quaternion().

void octomath::Quaternion::operator/=

(

float

x

)

Quaternion & octomath::Quaternion::operator=

(

const Quaternion &

other

)

References u(), x(), y(), and z().

Referenced by Quaternion().

bool octomath::Quaternion::operator==

(

const Quaternion &

other

)

const

std::istream & octomath::Quaternion::read

(

std::istream &

s

)

Referenced by octomath::Pose6D::read().

std::istream & octomath::Quaternion::readBinary

(

std::istream &

s

)

References operator()().

Referenced by octomath::Pose6D::readBinary().

Vector3 octomath::Quaternion::rotate

(

const Vector3 &

v

)

const

Rotate a vector.

Rotates a vector to the body fixed coordinate system according to the attitude represented by this Quaternion.

Parameters:

v	a vector represented in world coordinates

Returns:

v represented in body-fixed coordinates

References inv(), x(), y(), and z().

Referenced by octomath::Pose6D::inv(), octomath::Pose6D::inv_IP(), octomath::Pose6D::operator*(), octomath::Pose6D::operator*=(), and octomath::Pose6D::transform().

Vector3 octomath::Quaternion::toEuler

(

)

const

Conversion to Euler angles.

Converts the attitude represented by this to Euler angles (roll, pitch, yaw).

References norm(), u(), x(), y(), and z().

Referenced by octomath::Pose6D::pitch(), octomath::Pose6D::roll(), and octomath::Pose6D::yaw().

void octomath::Quaternion::toRotMatrix

(

std::vector< double > &

rot_matrix_3_3

)

const

References norm(), u(), x(), y(), and z().

float& octomath::Quaternion::u

(

)

[inline]

References data.

Referenced by inv(), operator*(), octomath::operator<<(), operator=(), Quaternion(), toEuler(), and toRotMatrix().

const float& octomath::Quaternion::u

(

)

const [inline]

References data.

std::ostream & octomath::Quaternion::write

(

std::ostream &

s

)

const

Referenced by octomath::Pose6D::write().

std::ostream & octomath::Quaternion::writeBinary

(

std::ostream &

s

)

const

References operator()().

Referenced by octomath::Pose6D::writeBinary().

float& octomath::Quaternion::x

(

)

[inline]

References data.

Referenced by inv(), inv_IP(), operator*(), octomath::operator<<(), operator=(), Quaternion(), rotate(), toEuler(), and toRotMatrix().

const float& octomath::Quaternion::x

(

)

const [inline]

References data.

const float& octomath::Quaternion::y

(

)

const [inline]

References data.

float& octomath::Quaternion::y

(

)

[inline]

References data.

Referenced by inv(), inv_IP(), operator*(), octomath::operator<<(), operator=(), Quaternion(), rotate(), toEuler(), and toRotMatrix().

const float& octomath::Quaternion::z

(

)

const [inline]

References data.

float& octomath::Quaternion::z

(

)

[inline]

References data.

Referenced by inv(), inv_IP(), operator*(), octomath::operator<<(), operator=(), Quaternion(), rotate(), toEuler(), and toRotMatrix().

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Friends And Related Function Documentation

Quaternion operator*	(	const Vector3 &	v,
		const Quaternion &	q
	)		[friend]

Quaternion multiplication with extended vector.

Returns:

(0, v) * q

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Field Documentation

float octomath::Quaternion::data[4] [protected]

Referenced by operator()(), Quaternion(), u(), x(), y(), and z().

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The documentation for this class was generated from the following files:

• include/octomap/math/Quaternion.h
• src/math/Quaternion.cpp