GranOO3::Geom::Quaternion Class Reference

#include <Quaternion.hpp>

Public Member Functions
	Quaternion ()
	Quaternion (const Vector &axis, double angle)
	Quaternion (const Vector &v)
	Quaternion (double vx, double vy, double vz, double s)
	Quaternion (const Quaternion &q)
	Quaternion (const Quaternion &q, const Frame &from, const Frame &to)
	Quaternion (const Vector &from, const Vector &to)
	~Quaternion ()
void	set_axis_angle (const Vector &axis, double angle)
void	set_angle (double angle)
void	set_vec_from_to (const Vector &from, const Vector &to)
Vector	get_axis () const
double	get_angle () const
void	get_axis_angle (Vector &axis, double &angle) const
void	to_euler_angle (EulerAngle &) const
EulerAngle	to_euler_angle () const
Quaternion &	operator= (const EulerAngle &)
void	set_value (double q0, double q1, double q2, double q3)
double &	x ()
const double &	x () const
double &	y ()
const double &	y () const
double &	z ()
const double &	z () const
double &	r ()
const double &	r () const
void	set_x (const double &)
void	set_y (const double &)
void	set_z (const double &)
void	set_r (const double &)
double	get_x () const
double	get_y () const
double	get_z () const
double	get_r () const
template<typename Axis >
double &	val ()
template<typename Axis >
const double &	val () const
const double &	operator() (unsigned int i) const
double &	operator() (unsigned int i)
Quaternion &	operator= (const Quaternion &Q)
void	operator*= (const Quaternion &Q)
void	operator*= (const Vector &v)
void	operator*= (const double &d)
void	operator+= (const Quaternion &Q)
void	operator-= (const Quaternion &Q)
Vector	rotate (const Vector &v_in) const
Vector	inverse_rotate (const Vector &v_in) const
void	rotate (const Vector &v_in, Vector &v_out) const
void	inverse_rotate (const Vector &v_in, Vector &v_out) const
bool	is_nan () const
void	clear ()
void	clear_unit ()
Quaternion	conjugate () const
Tensor	to_rotation_matrix () const
Vector	to_vector () const
double	norm () const
double	squared_norm () const
double	normalize ()
Quaternion	normalized () const
bool	is_unit () const
std::string	info () const
void	add_glob (const std::string &id)

Static Public Member Functions
static Quaternion &	glob (const std::string &id)
static std::string	class_ID ()
static Quaternion *	new_object (const TiXmlElement *el)

Public Attributes
Eigen::Matrix< double, 4, 1 >	coord

Static Public Attributes
static const Quaternion &	global = global::quaternion
static const Quaternion &	null = null::quaternion
static const int	N = 4

Private Member Functions
void	equalize (const Quaternion &)
template<class Archive >
void	serialize (Archive &ar, const unsigned int)

Friends
class	boost::serialization::access
std::ostream &	operator<< (std::ostream &, const Quaternion &)
Quaternion	slerp (const Quaternion &, const Quaternion &, const double &ratio)
Quaternion	operator* (const Quaternion &, const Vector &)
Quaternion	operator* (const Vector &, const Quaternion &)
Quaternion	operator* (const Quaternion &, const Quaternion &)
Quaternion	operator* (const Quaternion &, const double &)
Quaternion	operator* (const double &, const Quaternion &)
Quaternion	operator+ (const Quaternion &, const Quaternion &)
Quaternion	operator- (const Quaternion &, const Quaternion &)
bool	operator== (const Quaternion &, const Quaternion &)

Constructor & Destructor Documentation

Quaternion() [1/7]

GranOO3::Geom::Quaternion::Quaternion

(

)

Quaternion() [2/7]

GranOO3::Geom::Quaternion::Quaternion	(	const Vector &	axis,
		double	angle
	)

Quaternion() [3/7]

GranOO3::Geom::Quaternion::Quaternion ( const Vector &  v )

explicit

Quaternion() [4/7]

GranOO3::Geom::Quaternion::Quaternion	(	double	vx,
		double	vy,
		double	vz,
		double	s
	)

Quaternion() [5/7]

GranOO3::Geom::Quaternion::Quaternion

(

const Quaternion &

q

)

Quaternion() [6/7]

GranOO3::Geom::Quaternion::Quaternion	(	const Quaternion &	q,
		const Frame &	from,
		const Frame &	to
	)

Quaternion() [7/7]

GranOO3::Geom::Quaternion::Quaternion	(	const Vector &	from,
		const Vector &	to
	)

~Quaternion()

GranOO3::Geom::Quaternion::~Quaternion

(

)

Member Function Documentation

add_glob()

void GranOO3::Geom::Quaternion::add_glob

(

const std::string &

id

)

class_ID()

static std::string GranOO3::Geom::Quaternion::class_ID ( )

inlinestatic

clear()

void GranOO3::Geom::Quaternion::clear

(

)

clear_unit()

void GranOO3::Geom::Quaternion::clear_unit

(

)

conjugate()

Quaternion GranOO3::Geom::Quaternion::conjugate

(

)

const

equalize()

void GranOO3::Geom::Quaternion::equalize ( const Quaternion &  )

private

get_angle()

double GranOO3::Geom::Quaternion::get_angle

(

)

const

get_axis()

Vector GranOO3::Geom::Quaternion::get_axis

(

)

const

get_axis_angle()

void GranOO3::Geom::Quaternion::get_axis_angle	(	Vector &	axis,
		double &	angle
	)		const

get_r()

double GranOO3::Geom::Quaternion::get_r

(

)

const

get_x()

double GranOO3::Geom::Quaternion::get_x

(

)

const

get_y()

double GranOO3::Geom::Quaternion::get_y

(

)

const

get_z()

double GranOO3::Geom::Quaternion::get_z

(

)

const

glob()

Quaternion & GranOO3::Geom::Quaternion::glob ( const std::string &  id )

static

info()

std::string GranOO3::Geom::Quaternion::info

(

)

const

inverse_rotate() [1/2]

Vector GranOO3::Geom::Quaternion::inverse_rotate

(

const Vector &

v_in

)

const

inverse_rotate() [2/2]

void GranOO3::Geom::Quaternion::inverse_rotate	(	const Vector &	v_in,
		Vector &	v_out
	)		const

is_nan()

bool GranOO3::Geom::Quaternion::is_nan

(

)

const

is_unit()

bool GranOO3::Geom::Quaternion::is_unit

(

)

const

new_object()

Quaternion * GranOO3::Geom::Quaternion::new_object ( const TiXmlElement *  el )

static

norm()

double GranOO3::Geom::Quaternion::norm

(

)

const

normalize()

double GranOO3::Geom::Quaternion::normalize

(

)

normalized()

Quaternion GranOO3::Geom::Quaternion::normalized

(

)

const

operator()() [1/2]

double& GranOO3::Geom::Quaternion::operator()

(

unsigned int

i

)

operator()() [2/2]

const double& GranOO3::Geom::Quaternion::operator()

(

unsigned int

i

)

const

operator*=() [1/3]

void GranOO3::Geom::Quaternion::operator*=

(

const double &

d

)

operator*=() [2/3]

void GranOO3::Geom::Quaternion::operator*=

(

const Quaternion &

Q

)

operator*=() [3/3]

void GranOO3::Geom::Quaternion::operator*=

(

const Vector &

v

)

operator+=()

void GranOO3::Geom::Quaternion::operator+=

(

const Quaternion &

Q

)

operator-=()

void GranOO3::Geom::Quaternion::operator-=

(

const Quaternion &

Q

)

operator=() [1/2]

Quaternion & GranOO3::Geom::Quaternion::operator=

(

const EulerAngle &

e

)

operator=() [2/2]

Quaternion& GranOO3::Geom::Quaternion::operator=

(

const Quaternion &

Q

)

r() [1/2]

double& GranOO3::Geom::Quaternion::r

(

)

r() [2/2]

const double& GranOO3::Geom::Quaternion::r

(

)

const

rotate() [1/2]

Vector GranOO3::Geom::Quaternion::rotate

(

const Vector &

v_in

)

const

rotate() [2/2]

void GranOO3::Geom::Quaternion::rotate	(	const Vector &	v_in,
		Vector &	v_out
	)		const

serialize()

template<class Archive >

void GranOO3::Geom::Quaternion::serialize ( Archive &  ar, const unsigned int    )

private

set_angle()

void GranOO3::Geom::Quaternion::set_angle

(

double

angle

)

set_axis_angle()

void GranOO3::Geom::Quaternion::set_axis_angle	(	const Vector &	axis,
		double	angle
	)

set_r()

void GranOO3::Geom::Quaternion::set_r

(

const double &

)

set_value()

void GranOO3::Geom::Quaternion::set_value	(	double	q0,
		double	q1,
		double	q2,
		double	q3
	)

set_vec_from_to()

void GranOO3::Geom::Quaternion::set_vec_from_to	(	const Vector &	from,
		const Vector &	to
	)

set_x()

void GranOO3::Geom::Quaternion::set_x

(

const double &

)

set_y()

void GranOO3::Geom::Quaternion::set_y

(

const double &

)

set_z()

void GranOO3::Geom::Quaternion::set_z

(

const double &

)

squared_norm()

double GranOO3::Geom::Quaternion::squared_norm

(

)

const

to_euler_angle() [1/2]

EulerAngle GranOO3::Geom::Quaternion::to_euler_angle

(

)

const

to_euler_angle() [2/2]

void GranOO3::Geom::Quaternion::to_euler_angle

(

EulerAngle &

e

)

const

to_rotation_matrix()

Tensor GranOO3::Geom::Quaternion::to_rotation_matrix

(

)

const

to_vector()

Vector GranOO3::Geom::Quaternion::to_vector

(

)

const

val() [1/2]

template<typename Axis >

double& GranOO3::Geom::Quaternion::val

(

)

val() [2/2]

template<typename Axis >

const double& GranOO3::Geom::Quaternion::val

(

)

const

x() [1/2]

double& GranOO3::Geom::Quaternion::x

(

)

x() [2/2]

const double& GranOO3::Geom::Quaternion::x

(

)

const

y() [1/2]

double& GranOO3::Geom::Quaternion::y

(

)

y() [2/2]

const double& GranOO3::Geom::Quaternion::y

(

)

const

z() [1/2]

double& GranOO3::Geom::Quaternion::z

(

)

z() [2/2]

const double& GranOO3::Geom::Quaternion::z

(

)

const

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

operator* [1/5]

Quaternion operator* ( const double &  , const Quaternion &    )

friend

operator* [2/5]

Quaternion operator* ( const Quaternion &  , const double &    )

friend

operator* [3/5]

Quaternion operator* ( const Quaternion &  , const Quaternion &    )

friend

operator* [4/5]

Quaternion operator* ( const Quaternion &  , const Vector &    )

friend

operator* [5/5]

Quaternion operator* ( const Vector &  , const Quaternion &    )

friend

operator+

Quaternion operator+ ( const Quaternion &  , const Quaternion &    )

friend

operator-

Quaternion operator- ( const Quaternion &  , const Quaternion &    )

friend

operator<<

std::ostream& operator<< ( std::ostream &  , const Quaternion &    )

friend

operator==

bool operator== ( const Quaternion &  , const Quaternion &    )

friend

slerp

Quaternion slerp ( const Quaternion &  , const Quaternion &  , const double &  ratio  )

friend

Member Data Documentation

coord

Eigen::Matrix<double, 4, 1> GranOO3::Geom::Quaternion::coord

global

const Quaternion & GranOO3::Geom::Quaternion::global = global::quaternion

static

N

const int GranOO3::Geom::Quaternion::N = 4

static

null

const Quaternion & GranOO3::Geom::Quaternion::null = null::quaternion

static

---

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

• /home/granoo/granoo/Lib/GranOO3/Geom/Quaternion.hpp
• /home/granoo/granoo/Lib/GranOO3/Geom/Quaternion.cpp