#include <quaternion.h>

Public Member Functions
	CQuaternion ()

	CQuaternion (const CQuaternion &c_quaternion)

	CQuaternion (Real f_real, Real f_img1, Real f_img2, Real f_img3)

	CQuaternion (const CRadians &c_radians, const CVector3 &c_vector3)

	CQuaternion (const CVector3 &c_vector1, const CVector3 &c_vector2)

Real	GetW () const

Real	GetX () const

Real	GetY () const

Real	GetZ () const

void	SetW (Real f_w)

void	SetX (Real f_x)

void	SetY (Real f_y)

void	SetZ (Real f_z)

void	Set (Real f_w, Real f_x, Real f_y, Real f_z)

CQuaternion	Conjugate () const

CQuaternion	Inverse () const

Real	Length () const

Real	SquareLength () const

CQuaternion &	Normalize ()

CQuaternion &	FromAngleAxis (const CRadians &c_angle, const CVector3 &c_vector)

void	ToAngleAxis (CRadians &c_angle, CVector3 &c_vector) const

CQuaternion &	FromEulerAngles (const CRadians &c_z_angle, const CRadians &c_y_angle, const CRadians &c_x_angle)

void	ToEulerAngles (CRadians &c_z_angle, CRadians &c_y_angle, CRadians &c_x_angle) const

CQuaternion &	BetweenTwoVectors (const CVector3 &c_vector1, const CVector3 &c_vector2)

bool	operator== (const CQuaternion &c_quaternion)

CQuaternion &	operator= (const CQuaternion &c_quaternion)

CQuaternion &	operator+= (const CQuaternion &c_quaternion)

CQuaternion &	operator-= (const CQuaternion &c_quaternion)

CQuaternion &	operator*= (const CQuaternion &c_quaternion)

CQuaternion	operator+ (const CQuaternion &c_quaternion) const

CQuaternion	operator- (const CQuaternion &c_quaternion) const

CQuaternion	operator* (const CQuaternion &c_quaternion) const

	operator CRotationMatrix3 () const
	Implict conversion to rotation matrix. More...

Friends
std::ostream &	operator<< (std::ostream &c_os, const CQuaternion &c_quaternion)
	Serializes the contents of the passed quaternion into a stream as Euler angles in the Z,Y,X format in degrees. More...

std::istream &	operator>> (std::istream &c_is, CQuaternion &c_quaternion)
	Deserializes the contents of a stream and stores it into the passed quaternion. More...

Detailed Description

Definition at line 15 of file quaternion.h.

Constructor & Destructor Documentation

◆ CQuaternion() [1/5]

argos::CQuaternion::CQuaternion ( )

inline

Definition at line 18 of file quaternion.h.

◆ CQuaternion() [2/5]

argos::CQuaternion::CQuaternion ( const CQuaternion & c_quaternion )

inline

Definition at line 25 of file quaternion.h.

◆ CQuaternion() [3/5]

argos::CQuaternion::CQuaternion	(	Real	f_real,
		Real	f_img1,
		Real	f_img2,
		Real	f_img3
	)

inline

Definition at line 29 of file quaternion.h.

◆ CQuaternion() [4/5]

argos::CQuaternion::CQuaternion	(	const CRadians &	c_radians,
		const CVector3 &	c_vector3
	)

inline

Definition at line 39 of file quaternion.h.

◆ CQuaternion() [5/5]

argos::CQuaternion::CQuaternion	(	const CVector3 &	c_vector1,
		const CVector3 &	c_vector2
	)

inline

Definition at line 44 of file quaternion.h.

Member Function Documentation

◆ BetweenTwoVectors()

CQuaternion& argos::CQuaternion::BetweenTwoVectors	(	const CVector3 &	c_vector1,
		const CVector3 &	c_vector2
	)

inline

Definition at line 220 of file quaternion.h.

◆ Conjugate()

CQuaternion argos::CQuaternion::Conjugate ( ) const

inline

Definition at line 91 of file quaternion.h.

◆ FromAngleAxis()

CQuaternion& argos::CQuaternion::FromAngleAxis	(	const CRadians &	c_angle,
		const CVector3 &	c_vector
	)

inline

Definition at line 126 of file quaternion.h.

◆ FromEulerAngles()

CQuaternion& argos::CQuaternion::FromEulerAngles	(	const CRadians &	c_z_angle,
		const CRadians &	c_y_angle,
		const CRadians &	c_x_angle
	)

inline

Definition at line 163 of file quaternion.h.

◆ GetW()

Real argos::CQuaternion::GetW ( ) const

inline

Definition at line 49 of file quaternion.h.

◆ GetX()

Real argos::CQuaternion::GetX ( ) const

inline

Definition at line 53 of file quaternion.h.

◆ GetY()

Real argos::CQuaternion::GetY ( ) const

inline

Definition at line 57 of file quaternion.h.

◆ GetZ()

Real argos::CQuaternion::GetZ ( ) const

inline

Definition at line 61 of file quaternion.h.

◆ Inverse()

CQuaternion argos::CQuaternion::Inverse ( ) const

inline

Definition at line 98 of file quaternion.h.

◆ Length()

Real argos::CQuaternion::Length ( ) const

inline

Definition at line 105 of file quaternion.h.

◆ Normalize()

CQuaternion& argos::CQuaternion::Normalize ( )

inline

Definition at line 117 of file quaternion.h.

◆ operator CRotationMatrix3()

argos::CQuaternion::operator CRotationMatrix3 ( ) const

inline

Implict conversion to rotation matrix.

This code is based on the solution used by Bullet

Definition at line 341 of file quaternion.h.

◆ operator*()

CQuaternion argos::CQuaternion::operator* ( const CQuaternion & c_quaternion ) const

inline

Definition at line 332 of file quaternion.h.

◆ operator*=()

CQuaternion& argos::CQuaternion::operator*= ( const CQuaternion & c_quaternion )

inline

Definition at line 295 of file quaternion.h.

◆ operator+()

CQuaternion argos::CQuaternion::operator+ ( const CQuaternion & c_quaternion ) const

inline

Definition at line 320 of file quaternion.h.

◆ operator+=()

CQuaternion& argos::CQuaternion::operator+= ( const CQuaternion & c_quaternion )

inline

Definition at line 279 of file quaternion.h.

◆ operator-()

CQuaternion argos::CQuaternion::operator- ( const CQuaternion & c_quaternion ) const

inline

Definition at line 326 of file quaternion.h.

◆ operator-=()

CQuaternion& argos::CQuaternion::operator-= ( const CQuaternion & c_quaternion )

inline

Definition at line 287 of file quaternion.h.

◆ operator=()

CQuaternion& argos::CQuaternion::operator= ( const CQuaternion & c_quaternion )

inline

Definition at line 269 of file quaternion.h.

◆ operator==()

bool argos::CQuaternion::operator== ( const CQuaternion & c_quaternion )

inline

Definition at line 262 of file quaternion.h.

◆ Set()

void argos::CQuaternion::Set	(	Real	f_w,
		Real	f_x,
		Real	f_y,
		Real	f_z
	)

inline

Definition at line 81 of file quaternion.h.

◆ SetW()

void argos::CQuaternion::SetW ( Real f_w )

inline

Definition at line 65 of file quaternion.h.

◆ SetX()

void argos::CQuaternion::SetX ( Real f_x )

inline

Definition at line 69 of file quaternion.h.

◆ SetY()

void argos::CQuaternion::SetY ( Real f_y )

inline

Definition at line 73 of file quaternion.h.

◆ SetZ()

void argos::CQuaternion::SetZ ( Real f_z )

inline

Definition at line 77 of file quaternion.h.

◆ SquareLength()

Real argos::CQuaternion::SquareLength ( ) const

inline

Definition at line 109 of file quaternion.h.

◆ ToAngleAxis()

void argos::CQuaternion::ToAngleAxis	(	CRadians &	c_angle,
		CVector3 &	c_vector
	)		const

inline

Definition at line 143 of file quaternion.h.

◆ ToEulerAngles()

void argos::CQuaternion::ToEulerAngles	(	CRadians &	c_z_angle,
		CRadians &	c_y_angle,
		CRadians &	c_x_angle
	)		const

inline

Definition at line 172 of file quaternion.h.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	c_os,
		const CQuaternion &	c_quaternion
	)

friend

Serializes the contents of the passed quaternion into a stream as Euler angles in the Z,Y,X format in degrees.

Parameters

c_os	The stream.
c_quaternion	The quaternion.

Returns: The new state of the stream.

Definition at line 360 of file quaternion.h.

◆ operator>>

std::istream& operator>>	(	std::istream &	c_is,
		CQuaternion &	c_quaternion
	)

friend

Deserializes the contents of a stream and stores it into the passed quaternion.

This method assumes Euler angles in Z,Y,X format and given in degrees.

Parameters

c_is	The stream.
c_quaternion	The quaternion.

Returns: The new state of the stream.

Definition at line 376 of file quaternion.h.

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ CQuaternion() [1/5]

◆ CQuaternion() [2/5]

◆ CQuaternion() [3/5]

◆ CQuaternion() [4/5]

◆ CQuaternion() [5/5]

Member Function Documentation

◆ BetweenTwoVectors()

◆ Conjugate()

◆ FromAngleAxis()

◆ FromEulerAngles()

◆ GetW()

◆ GetX()

◆ GetY()

◆ GetZ()

◆ Inverse()

◆ Length()

◆ Normalize()

◆ operator CRotationMatrix3()

◆ operator*()

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator=()

◆ operator==()

◆ Set()

◆ SetW()

◆ SetX()

◆ SetY()

◆ SetZ()

◆ SquareLength()

◆ ToAngleAxis()

◆ ToEulerAngles()

Friends And Related Function Documentation

◆ operator<<

◆ operator>>