DUNE::Math::Quaternion Class Reference

Public Member Functions
	Quaternion ()
	Quaternion (double qw, double qx, double qy, double qz)
	Quaternion (const std::vector< double > &q)
	Quaternion (double qw, const std::vector< double > &v)
	Quaternion (const Matrix &q)
	Quaternion (double qw, const Matrix &v)
	Quaternion (const EulerAnglesZyx &euler)
double	w () const
double	x () const
double	y () const
double	z () const
Matrix	vec () const
Matrix	matrix () const
double	norm () const
Quaternion	normalized () const
Matrix	rotationMatrix () const
Matrix	angVelTransform () const
void	identity ()
void	normalize ()
Quaternion	operator- () const
Quaternion &	operator+= (const Quaternion &rhs)
Quaternion &	operator-= (const Quaternion &rhs)
Quaternion &	operator*= (const Quaternion &rhs)

Constructor & Destructor Documentation

DUNE::Math::Quaternion::Quaternion

(

)

References identity().

Referenced by DUNE::Math::conjugate(), DUNE::Math::operator+(), and operator-().

DUNE::Math::Quaternion::Quaternion	(	double	qw,
		double	qx,
		double	qy,
		double	qz
	)

DUNE::Math::Quaternion::Quaternion ( const std::vector< double > &  q )

explicit

DUNE::Math::Quaternion::Quaternion	(	double	qw,
		const std::vector< double > &	v
	)

DUNE::Math::Quaternion::Quaternion ( const Matrix &  q )

explicit

References DUNE::Math::Matrix::isColumnVector(), and DUNE::Math::Matrix::size().

DUNE::Math::Quaternion::Quaternion	(	double	qw,
		const Matrix &	v
	)

References DUNE::Math::Matrix::isColumnVector(), and DUNE::Math::Matrix::size().

DUNE::Math::Quaternion::Quaternion ( const EulerAnglesZyx &  euler )

explicit

References DUNE::Math::EulerAnglesZyx::pitch, DUNE::Math::EulerAnglesZyx::roll, and DUNE::Math::EulerAnglesZyx::yaw.

Member Function Documentation

Matrix DUNE::Math::Quaternion::angVelTransform

(

)

const

References DUNE::Math::Matrix, w(), x(), y(), and z().

void DUNE::Math::Quaternion::identity

(

void

)

References DUNE::Math::Matrix::fill().

Referenced by Quaternion().

Matrix DUNE::Math::Quaternion::matrix

(

)

const

Referenced by DUNE::Math::operator*(), DUNE::Math::operator+(), operator+=(), operator-(), operator-=(), DUNE::Math::operator<<(), DUNE::Math::operator==(), and DUNE::Math::transpose().

double DUNE::Math::Quaternion::norm

(

)

const

References DUNE::Math::Matrix::norm_2().

Referenced by normalize(), and rotationMatrix().

void DUNE::Math::Quaternion::normalize

(

void

)

References norm().

Referenced by normalized().

Quaternion DUNE::Math::Quaternion::normalized

(

)

const

References normalize().

Quaternion & DUNE::Math::Quaternion::operator*=

(

const Quaternion &

rhs

)

References w(), x(), y(), and z().

Quaternion & DUNE::Math::Quaternion::operator+=

(

const Quaternion &

rhs

)

References matrix().

Quaternion DUNE::Math::Quaternion::operator-

(

void

)

const

References matrix(), and Quaternion().

Quaternion & DUNE::Math::Quaternion::operator-=

(

const Quaternion &

rhs

)

References matrix().

Matrix DUNE::Math::Quaternion::rotationMatrix

(

)

const

References norm(), and DUNE::Math::Matrix::toDCM().

Matrix DUNE::Math::Quaternion::vec

(

)

const

References DUNE::Math::Matrix::get().

double DUNE::Math::Quaternion::w

(

)

const

Referenced by angVelTransform(), DUNE::Math::conjugate(), DUNE::Math::EulerAnglesZyx::EulerAnglesZyx(), and operator*=().

double DUNE::Math::Quaternion::x

(

)

const

Referenced by angVelTransform(), DUNE::Math::conjugate(), DUNE::Math::EulerAnglesZyx::EulerAnglesZyx(), and operator*=().

double DUNE::Math::Quaternion::y

(

)

const

Referenced by angVelTransform(), DUNE::Math::conjugate(), DUNE::Math::EulerAnglesZyx::EulerAnglesZyx(), and operator*=().

double DUNE::Math::Quaternion::z

(

)

const

Referenced by angVelTransform(), DUNE::Math::conjugate(), DUNE::Math::EulerAnglesZyx::EulerAnglesZyx(), and operator*=().

Collaboration diagram for DUNE::Math::Quaternion: