Quaternion

Quaternion for representing rotations. More...

Static Functions
static Quaternion	FromAngleAxis (double angle, const Vector3d &axis)
	Creates a quaternion from an axis angle representation.
static Quaternion	FromMatrix (const double *const matrix)
	Matrix to Quaternion.

Functions
	Quaternion ()
	Default Constructor. W=1, X=Y=Z=0.
	Quaternion (const Quaternion &otherQuaternion)
	Constructor.
	Quaternion (const Vector3d &rpy)
	Euler Constructor (Alternate)
	Quaternion (double w, const Vector3d &v)
	Constructor.
	Quaternion (double w, double x, double y, double z)
	Constructor.
	Quaternion (double x, double y, double z)
	Euler constructor.
Quaternion	Conjugate () const
	Negates the imaginary component of the Quaternion.
double	Dot (const Quaternion &rightHandSide) const
	Returns the dot product of each element. w*rightHandSide.w+v.dot(rightHandSide.v)
bool	Equals (const Quaternion &rightHandSide, const double tolerance) const
	Equality check within tolerance.
Quaternion	Inverse () const
	Conjugate scaled by 1 / SumSquares()
double	Magnitude () const
	Gets the magnitude of this. sqrt(SumSquares())
Quaternion &	Normalize ()
	Normalizes this. Scales each component by 1 / magnitude.
Quaternion	Normalized () const
	Retunrs a normalized copy of this.
bool	operator!= (const Quaternion &rightHandSide) const
	Exact inequality check. See equals for approximately equal to.
Quaternion	operator* (const Quaternion &rightHandSide) const
	Multiplication (rotation) operator. Rotates other by this.
Vector3d	operator* (const Vector3d &rightHandSide) const
	Multiplication (vector rotation) operator. Rotates vector by this.
Quaternion	operator* (double s) const
	Multiplication (scalar) operator. w*s, v*s.
Quaternion &	operator*= (double s)
	Multiplication (scalar) assignment operator. See operator*(double)
Quaternion	operator+ (const Quaternion &rightHandSide) const
	Adds two quaternions together. this.w + rightHandSide.w, this.v+rightHandSide.v.
Quaternion &	operator+= (const Quaternion &rightHandSide)
	Addition assignment. Adds rightHandSide into this. See operator+.
Quaternion	operator- () const
	Negates this quaternion (w, and v)
Quaternion	operator- (const Quaternion &rightHandSide) const
	Subtraction operator. this.w - rightHandSide.w, this.v-rightHandSide.v.
Quaternion &	operator-= (const Quaternion &rightHandSide)
	Subtraction assignment. Subtracts other from this. See operator-.
Quaternion &	operator= (const Quaternion &rightHandSide)
	Assignment operator. Copies underlying.
bool	operator== (const Quaternion &rightHandSide) const
	Exact equality check. See equals for approximately equal to.
Quaternion &	Set (const Quaternion &otherQuaternion)
	Assigns other into this.
Quaternion &	Set (const Vector3d &vec)
	Assigns the quaternion defined by the Euler Angles into this.
Quaternion &	Set (double w, const Vector3d &vec)
	Assigns other into this.
Quaternion &	Set (double w, double x, double y, double z)
	Assigns each component into this.
Quaternion &	Set (double x, double y, double z)
	Assigns the quaternion defined by the Euler angles into this. If you get unexpected values, try negating the returned quaternion (change the direction of rotation)
double	SumSquares () const
	Gets the sum of the components squared (w*w+this.dot(this))
void	ToAngleAxis (double &outAngle, Vector3d &outAxis) const
	Gets the axis angle representation of this quaternion.
Vector3d	ToEuler () const
	Gets the Euler Angle representation of this quaternion.
void	ToMatrix (double *matrix) const
	Quaternion To Matrix.

Attributes
Vector3d	V
	Vector3d (imaginary) component of Quaternion. 1->x, 2->y, 3->z. Do not modify this unless you know what you are doing.
double	W
	W (real component) of Quaternion. Do not modify this unless you know what you are doing.

Description

Examples

PathMotion.cs.

Definition at line 353 of file cartesianrobot.h.