found::Quaternion Class Reference

A Quaternion is a mutable object that represents a Quaternion. More...

#include <attitude-utils.hpp>

Public Member Functions
	Quaternion (const Vec3 &, decimal)
	Create a quaternion which represents a rotation of theta around the axis input.
	Quaternion (const Vec3 &)
	Creates a "pure quaternion" with the given vector for imaginary parts and zero for real part.
	Quaternion (decimal real, decimal i, decimal j, decimal k)
	Creates a Quaternion with components.
Quaternion	operator* (const Quaternion &other) const
	Multiply two quaternions using the usual definition of quaternion multiplication (effectively composes rotations)
Quaternion	operator- () const
	Negate the quaternion, which is the same rotation.
Quaternion	Conjugate () const
	Effectively computes a quaternion representing the inverse rotation of the original.
Vec3	Vector () const
	The axis of the represented rotation.
void	SetVector (const Vec3 &)
	Set imaginary components of Quarterion.
Vec3	Rotate (const Vec3 &) const
	Rotates a vector about this Quaternion.
decimal	Angle () const
	Provides the amount of rotations represented by this Quaterion.
void	SetAngle (decimal)
	Changes the rotation represented in this quarterion.
bool	IsUnit (decimal tolerance) const
	Tells client if this Quarternion is a unit quaternion.
Quaternion	Canonicalize () const
	Provides the canonicalized Quaternion of this, if it is not already canonicalized.
EulerAngles	ToSpherical () const
	Converts this Quarterion to a new system of Euler Angles by extracting the rotations described by this quarterion.

Public Attributes
decimal	real
	The real component.
decimal	i
	The i component.
decimal	j
	The j component.
decimal	k
	The k component.

Detailed Description

A Quaternion is a mutable object that represents a Quaternion.

A Quaternion is a common way to represent rotations in 3D.

Constructor & Destructor Documentation

Quaternion() [1/3]

found::Quaternion::Quaternion	(	const Vec3 &	input,
		decimal	theta
	)

Create a quaternion which represents a rotation of theta around the axis input.

Parameters

input	the axis about which theta is defined
theta	the rotation about the input

Quaternion() [2/3]

found::Quaternion::Quaternion ( const Vec3 &  input )

explicit

Creates a "pure quaternion" with the given vector for imaginary parts and zero for real part.

Parameters

input

The vector representing the imaginary part of the Quaternion to create

Quaternion() [3/3]

found::Quaternion::Quaternion ( decimal  real, decimal  i, decimal  j, decimal  k  )

inline

Creates a Quaternion with components.

Parameters

real	The real component
i	The i component
j	The j component
k	The k component

Initializes this to be {real + iI + jJ + kK}

Member Function Documentation

Angle()

decimal found::Quaternion::Angle

(

)

const

Provides the amount of rotations represented by this Quaterion.

Returns

The amount of rotations represented by this, in radians

Canonicalize()

Quaternion found::Quaternion::Canonicalize

(

)

const

Provides the canonicalized Quaternion of this, if it is not already canonicalized.

Returns

The canonicalized Quaternion of this, which is this iff this is a canonicalized Quaternion already, and a new Quaternion if it is not

Conjugate()

Quaternion found::Quaternion::Conjugate

(

)

const

Effectively computes a quaternion representing the inverse rotation of the original.

Returns

The resulting quaternion

IsUnit()

bool found::Quaternion::IsUnit

(

decimal

tolerance

)

const

Tells client if this Quarternion is a unit quaternion.

Parameters

tolerance

The tolerance for the magnitude of this

Returns

true iff this is a unit Quaternion

operator*()

Quaternion found::Quaternion::operator*

(

const Quaternion &

other

)

const

Multiply two quaternions using the usual definition of quaternion multiplication (effectively composes rotations)

Parameters

other

The other quaternion

Returns

The resulting quaternion

operator-()

Quaternion found::Quaternion::operator-

(

)

const

Negate the quaternion, which is the same rotation.

Returns

The resulting quaternion

Rotate()

Vec3 found::Quaternion::Rotate

(

const Vec3 &

input

)

const

Rotates a vector about this Quaternion.

Parameters

input

The vector to rotate about this

Returns

The input vector that has been rotated about this

SetAngle()

void found::Quaternion::SetAngle

(

decimal

newAngle

)

Changes the rotation represented in this quarterion.

Parameters

newAngle

The rotation angle this new quarternion should represent

Postcondition

Changes this by altering the rotation angle of this by newAngle

SetVector()

void found::Quaternion::SetVector

(

const Vec3 &

vec

)

Set imaginary components of Quarterion.

Parameters

vec	The vector holding the imaginary quantities

ToSpherical()

EulerAngles found::Quaternion::ToSpherical

(

)

const

Converts this Quarterion to a new system of Euler Angles by extracting the rotations described by this quarterion.

Returns

An EulerAngles object representing this in with Euler Angles

Vector()

Vec3 found::Quaternion::Vector

(

)

const

The axis of the represented rotation.

The vector formed by imaginary components of the quaternion.

Returns

The vector part of this quaternion

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

• src/common/spatial/attitude-utils.hpp
• src/common/spatial/attitude-utils.cpp