amino::QuatTran Struct Reference

A rotation quaternion and translation vector object. More...

#include <spatial.hpp>

Inheritance diagram for amino::QuatTran:

Public Member Functions
	QuatTran ()
	Construct an idenity object.
	QuatTran (const struct aa_tf_qv *S)
	Construct from another quaternion-translation.
	QuatTran (const struct aa_tf_qv &S)
	Construct from another quaternion-translation.
	QuatTran (const struct aa_tf_quat *_r, const struct aa_tf_vec3 *_v)
	Construct from another quaternion-translation.
	QuatTran (const struct aa_tf_quat &_r, const struct aa_tf_vec3 &_v)
	Construct from another quaternion-translation.
	QuatTran (const struct XAngle &_r, const struct aa_tf_vec3 &_v)
	Construct from a principal angle and a vector.
	QuatTran (const struct YAngle &_r, const struct aa_tf_vec3 &_v)
	Construct from a principal angle and a vector.
	QuatTran (const struct ZAngle &_r, const struct aa_tf_vec3 &_v)
	Construct from a principal angle and a vector.
	QuatTran (const struct aa_tf_duqu *S)
	Construct from a dual quaternion.
	QuatTran (const struct aa_tf_duqu &S)
	Construct from a dual quaternion.
	QuatTran (const struct aa_tf_tfmat *T)
	Construct from a transformation matrix.
	QuatTran (const struct aa_tf_tfmat &T)
	Construct from a transformation matrix.
aa_tf_qv	conj ()
	Return the conjugate (inverse).
void	transform (const double a[3], double b[3]) const
	Transform a vector.
void	transform (const aa_tf_vec3 *a, aa_tf_vec3 *b) const
	Transform a vector.
aa_tf_vec3	transform (const aa_tf_vec3 &a) const
	Transform a vector.

Static Public Member Functions
static aa_tf_qv	from_xyzw (double q_x, double q_y, double q_z, double q_w, double t_x, double t_y, double t_z)
	Create a quaternion-translation from components.
static aa_tf_qv	from_qv (const double a_r[4], const double a_v[3])
	Create a quaternion-translation from a rotation quaternion and a translation vector.
static aa_tf_qv	from_qv (const double e[7])
	Create a quaternion-translation from a rotation quaternion and a translation vector.
static aa_tf_qv	from_duqu (const double s[8])
	Create a quaternion-translation from a dual quaternion.
static aa_tf_qv	from_tfmat (const double t[12])
	Create a quaternion-translation from a transformation matrix.

Additional Inherited Members
Public Attributes inherited from aa_tf_qv
union {
struct {
aa_tf_quat_t   r
	rotation unit quaternion
aa_tf_vec3_t   v
	translation vector
}
double   data [7]
	data array
};

Detailed Description

A rotation quaternion and translation vector object.

Definition at line 845 of file spatial.hpp.

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The documentation for this struct was generated from the following file:

• amino/tf/spatial.hpp