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amino
1.0-beta2
Lightweight Robot Utility Library
|
|
amino
1.0-beta2
Lightweight Robot Utility Library
|
A quaternion object. More...
#include <spatial.hpp>
Public Member Functions | |
| Quat () | |
| Construct an identity quaternion. | |
| Quat (const aa_tf_quat *p) | |
| Construct from another quaternion. | |
| Quat (const aa_tf_quat &p) | |
| Construct from another quaternion. | |
| Quat (const aa_tf_rotmat *p) | |
| Construct from a rotation matrix. | |
| Quat (const aa_tf_rotmat &p) | |
| Construct from a rotation matrix. | |
| Quat (const aa_tf_axang *p) | |
| Construct from an axix angle rotation. | |
| Quat (const aa_tf_axang &p) | |
| Construct from an axix angle rotation. | |
| Quat (const XAngle &p) | |
| Construct from a rotation about the x axis. | |
| Quat (const YAngle &p) | |
| Construct from a rotation about the Y axis. | |
| Quat (const ZAngle &p) | |
| Construct from a rotation about the Z axis. | |
| void | rotate (const aa_tf_vec3 *p, aa_tf_vec3 *q) const |
| Rotate a vector by this quaternion. | |
| aa_tf_vec3 | rotate (const aa_tf_vec3 &p) const |
| Rotate a vector by this quaternion. | |
Static Public Member Functions | |
| static aa_tf_quat | from_quat (const double x[4]) |
| Create a quaternion object from a quaternion array. | |
| static aa_tf_quat | from_xyzw (double x, double y, double z, double w) |
| Create a quaternion object from components. | |
| static aa_tf_quat | from_rotmat (const double x[9]) |
| Create a quaternion object a rotation matrix. | |
| static aa_tf_quat | from_axang (const double x[4]) |
| Create a quaternion object an axis-angle. | |
| static aa_tf_quat | from_axang (const double a[3], double angle) |
| Create a quaternion object an axis-angle. | |
| static aa_tf_quat | from_rotvec (const double x[3]) |
| Create a quaternion object a rotation vector. | |
| static aa_tf_quat | from_xangle (const double v) |
| Create a quaternion object rotation about x. | |
| static aa_tf_quat | from_yangle (const double v) |
| Create a quaternion object rotation about y. | |
| static aa_tf_quat | from_zangle (const double v) |
| Create a quaternion object rotation about z. | |
Additional Inherited Members | |
 Public Attributes inherited from aa_tf_quat | |
| union { | |
| struct { | |
| double x | |
| x component | |
| double y | |
| y component | |
| double z | |
| z component | |
| double w | |
| w component | |
| } | |
| struct { | |
| union { | |
| struct aa_tf_vec3 vec | |
| vector part | |
| double v [3] | |
| vector part | |
| } | |
| double scalar | |
| scalar part | |
| } | |
| double data [4] | |
| data array | |
| }; | |
A quaternion object.
Definition at line 180 of file spatial.hpp.