Quaternion Class Reference

Quaternion that are used for singularity free joints. More...

#include <Quaternion.h>

Inheritance diagram for Quaternion:

Public Member Functions
	Quaternion ()
	Quaternion (const Vector4d &vec4)
	Quaternion (Scalar x, Scalar y, Scalar z, Scalar w)
Quaternion	operator* (const double &s) const
Quaternion	operator* (const Quaternion &q) const
Quaternion &	operator*= (const Quaternion &q)
Quaternion	slerp (double alpha, const Quaternion &quat) const
Matrix3d	toMatrix () const
Quaternion	conjugate () const
Quaternion	timeStep (const Vector3d &omega, double dt)
Vector3d	rotate (const Vector3d &vec) const
Vector4d	omegaToQDot (const Vector3d &omega) const
	Converts a 3d angular velocity vector into a 4d derivative of the components of the quaternion. More...
Public Member Functions inherited from Vector4_t
template<typename OtherDerived >
	Vector4_t (const Eigen::MatrixBase< OtherDerived > &other)
template<typename OtherDerived >
Vector4_t &	operator= (const Eigen::MatrixBase< OtherDerived > &other)
EIGEN_STRONG_INLINE	Vector4_t ()
EIGEN_STRONG_INLINE	Vector4_t (const double &v0, const double &v1, const double &v2, const double &v3)
void	set (const double &v0, const double &v1, const double &v2, const double &v3)

Static Public Member Functions
static Quaternion	fromGLRotate (double angle, double x, double y, double z)
static Quaternion	fromAxisAngle (const Vector3d &axis, Scalar angle_rad)
static Quaternion	fromMatrix (const Matrix3d &mat)
static Quaternion	fromZYXAngles (const Vector3d &zyx_angles)
static Quaternion	fromYXZAngles (const Vector3d &yxz_angles)
static Quaternion	fromXYZAngles (const Vector3d &xyz_angles)

Additional Inherited Members
Public Types inherited from Vector4_t
typedef Eigen::Vector4d	Base

Detailed Description

Quaternion that are used for singularity free joints.

order: x,y,z,w

Definition at line 22 of file Quaternion.h.

Constructor & Destructor Documentation

Quaternion() [1/3]

Quaternion ( )

inline

Definition at line 24 of file Quaternion.h.

Quaternion() [2/3]

Quaternion ( const Vector4d &  vec4 )

inline

Definition at line 27 of file Quaternion.h.

Quaternion() [3/3]

Quaternion ( Scalar  x, Scalar  y, Scalar  z, Scalar  w  )

inline

Definition at line 30 of file Quaternion.h.

Member Function Documentation

conjugate()

Quaternion conjugate ( ) const

inline

Definition at line 176 of file Quaternion.h.

References Quaternion::Quaternion().

fromAxisAngle()

static Quaternion fromAxisAngle ( const Vector3d &  axis, Scalar  angle_rad  )

inlinestatic

Definition at line 104 of file Quaternion.h.

References Quaternion::Quaternion(), std::cos(), and std::sin().

fromGLRotate()

static Quaternion fromGLRotate ( double  angle, double  x, double  y, double  z  )

inlinestatic

Definition at line 60 of file Quaternion.h.

References Quaternion::Quaternion(), std::cos(), and std::sin().

fromMatrix()

static Quaternion fromMatrix ( const Matrix3d &  mat )

inlinestatic

Definition at line 115 of file Quaternion.h.

References Quaternion::Quaternion(), and std::sqrt().

fromXYZAngles()

static Quaternion fromXYZAngles ( const Vector3d &  xyz_angles )

inlinestatic

Definition at line 136 of file Quaternion.h.

References Quaternion::fromAxisAngle().

fromYXZAngles()

static Quaternion fromYXZAngles ( const Vector3d &  yxz_angles )

inlinestatic

Definition at line 130 of file Quaternion.h.

References Quaternion::fromAxisAngle().

fromZYXAngles()

static Quaternion fromZYXAngles ( const Vector3d &  zyx_angles )

inlinestatic

Definition at line 124 of file Quaternion.h.

References Quaternion::fromAxisAngle().

omegaToQDot()

Vector4d omegaToQDot ( const Vector3d &  omega ) const

inline

Converts a 3d angular velocity vector into a 4d derivative of the components of the quaternion.

Parameters

omega

the angular velocity.

Returns

a 4d vector containing the derivatives of the 4 components of the quaternion corresponding to omega.

Definition at line 208 of file Quaternion.h.

References Quaternion::Quaternion().

operator*() [1/2]

Quaternion operator* ( const double &  s ) const

inline

Definition at line 33 of file Quaternion.h.

References Quaternion::Quaternion().

operator*() [2/2]

Quaternion operator* ( const Quaternion &  q ) const

inline

This function is equivalent to multiplicate their corresponding rotation matrices

Definition at line 42 of file Quaternion.h.

References Quaternion::Quaternion().

operator*=()

Quaternion & operator*= ( const Quaternion &  q )

inline

Definition at line 50 of file Quaternion.h.

References Vector4_t::set().

rotate()

Vector3d rotate ( const Vector3d &  vec ) const

inline

Definition at line 189 of file Quaternion.h.

References Quaternion::conjugate().

slerp()

Quaternion slerp ( double  alpha, const Quaternion &  quat  ) const

inline

Definition at line 70 of file Quaternion.h.

References Quaternion::Quaternion(), std::acos(), std::isnan(), std::sin(), and std::sqrt().

timeStep()

Quaternion timeStep ( const Vector3d &  omega, double  dt  )

inline

Definition at line 184 of file Quaternion.h.

References Quaternion::fromAxisAngle().

toMatrix()

Matrix3d toMatrix ( ) const

inline

Definition at line 142 of file Quaternion.h.

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

• include/rbdl/Quaternion.h