Quatern Class Reference
[Server]
#include <Quatern.hh>
Detailed Description
A quaternion class.
Public Member Functions | |
| Quatern () | |
| Default Constructor. | |
| Quatern (const double &u, const double &x, const double &y, const double &z) | |
| Constructor. | |
| Quatern (const Quatern &qt) | |
| Copy constructor. | |
| ~Quatern () | |
| Destructor. | |
| const Quatern & | operator= (const Quatern &qt) |
| Equal operator. | |
| void | Invert () |
| Invert the quaternion. | |
| Quatern | GetInverse () const |
| Get the inverse of this quaternion. | |
| void | SetToIdentity () |
| Set the quatern to the identity. | |
| void | Normalize () |
| Normalize the quaternion. | |
| void | SetFromAxis (double x, double y, double z, double a) |
| Set the quaternion from an axis and angle. | |
| void | SetFromEuler (const Vector3 &vec) |
| Set the quaternion from Euler angles. | |
| Vector3 | GetAsEuler () |
| Return the rotation in Euler angles. | |
| double | GetRoll () |
| Get the Euler roll angle in radians. | |
| double | GetPitch () |
| Get the Euler pitch angle in radians. | |
| double | GetYaw () |
| Get the Euler yaw angle in radians. | |
| Quatern | GetAsAxis () |
| Return rotation as axis and angle (x, y, y, rotation). | |
| void | Scale (double scale) |
| Scale a Quaternion. | |
| Quatern | operator * (const Quatern &qt) const |
| Multiplication operator. | |
| bool | IsFinite () const |
| See if a quatern is finite (e.g., not nan). | |
Public Attributes | |
| double | u |
| Attributes of the quaternion. | |
| double | x |
| Attributes of the quaternion. | |
| double | y |
| Attributes of the quaternion. | |
| double | z |
| Attributes of the quaternion. | |
Friends | |
| std::ostream & | operator<< (std::ostream &out, const gazebo::Quatern &q) |
| Ostream operator. | |
Constructor & Destructor Documentation
| Quatern | ( | const double & | u, | |
| const double & | x, | |||
| const double & | y, | |||
| const double & | z | |||
| ) |
Constructor.
- Parameters:
-
u U param x X param y Y param z Z param
Member Function Documentation
| Quatern GetInverse | ( | ) | const |
Get the inverse of this quaternion.
- Returns:
- Inverse quarenion
| void SetFromAxis | ( | double | x, | |
| double | y, | |||
| double | z, | |||
| double | a | |||
| ) |
Set the quaternion from an axis and angle.
- Parameters:
-
x X axis y Y axis z Z axis a Angle in radians
| void SetFromEuler | ( | const Vector3 & | vec | ) |
Set the quaternion from Euler angles.
- Parameters:
-
vec Euler angle
| Vector3 GetAsEuler | ( | ) |
Return the rotation in Euler angles.
- Returns:
- This quaternion as an Euler vector
| Quatern GetAsAxis | ( | ) |
Return rotation as axis and angle (x, y, y, rotation).
- Returns:
- This quaternion as an axis-angle
| void Scale | ( | double | scale | ) |
Scale a Quaternion.
- Parameters:
-
scale Amount to scale this rotation
Multiplication operator.
- Parameters:
-
qt Quatern for multiplication
- Returns:
- This quatern multiplied by the parameter
| bool IsFinite | ( | ) | const |
See if a quatern is finite (e.g., not nan).
- Returns:
- True if quatern is finite
Friends And Related Function Documentation
| std::ostream& operator<< | ( | std::ostream & | out, | |
| const gazebo::Quatern & | q | |||
| ) | [friend] |
The documentation for this class was generated from the following file: