#include <yarp/math/Quaternion.h>

Inheritance diagram for yarp::math::Quaternion:

Public Member Functions
	Quaternion ()

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

double *	data ()

const double *	data () const

double	x () const

double	y () const

double	z () const

double	w () const

double &	x ()

double &	y ()

double &	z ()

double &	w ()

std::string	toString (int precision=-1, int width=-1) const

double	abs ()
	Computes the modulus of the quaternion.

void	normalize ()
	Normalizes the quaternion elements.

bool	isValid () const
	Check if the quaternion is valid.

Quaternion	inverse () const
	Computes the inverse of the quaternion.

double	arg ()
	Computes the argument or phase of the quaternion in radians.

void	fromAxisAngle (const yarp::sig::Vector &v)
	Computes the quaternion from an axis-angle representation.

void	fromAxisAngle (const yarp::sig::Vector &axis, const double &angle)
	Computes the quaternion from an axis-angle representation.

yarp::sig::Vector	toAxisAngle ()

void	fromRotationMatrix (const yarp::sig::Matrix &R)
	Converts a rotation matrix to a quaternion.

yarp::sig::Matrix	toRotationMatrix4x4 () const
	Converts a quaternion to a rotation matrix.

yarp::sig::Matrix	toRotationMatrix3x3 () const
	Converts a quaternion to a rotation matrix.

yarp::sig::Vector	toVector () const
	Converts the quaternion to a vector of length 4.

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

bool	write (yarp::os::ConnectionWriter &connection) const override
	Write vector to a connection.

yarp::os::Type	getType () const override

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

Public Member Functions inherited from yarp::os::PortWriter
virtual	~PortWriter ()
	Destructor.

virtual void	onCompletion () const
	This is called when the port has finished all writing operations.

virtual void	onCommencement () const
	This is called when the port is about to begin writing operations.

virtual yarp::os::Type	getWriteType () const

Additional Inherited Members
Static Public Member Functions inherited from yarp::os::Portable
static bool	copyPortable (const PortWriter &writer, PortReader &reader)
	Copy one portable to another, via writing and reading.

Detailed Description

Definition at line 21 of file Quaternion.h.

Constructor & Destructor Documentation

◆ Quaternion() [1/2]

Quaternion::Quaternion ( )

Definition at line 31 of file Quaternion.cpp.

◆ Quaternion() [2/2]

Quaternion::Quaternion	(	double	x,
		double	y,
		double	z,
		double	w
	)

Definition at line 39 of file Quaternion.cpp.

Member Function Documentation

◆ abs()

double Quaternion::abs ( )

Computes the modulus of the quaternion.

Definition at line 313 of file Quaternion.cpp.

◆ arg()

double Quaternion::arg ( )

Computes the argument or phase of the quaternion in radians.

Definition at line 331 of file Quaternion.cpp.

◆ data() [1/2]

double * Quaternion::data ( )

Definition at line 52 of file Quaternion.cpp.

◆ data() [2/2]

const double * Quaternion::data ( ) const

Definition at line 47 of file Quaternion.cpp.

◆ fromAxisAngle() [1/2]

void Quaternion::fromAxisAngle	(	const yarp::sig::Vector &	axis,
		const double &	angle
	)

Computes the quaternion from an axis-angle representation.

Parameters

axis	a 3D vector representing the axis. @angle the rotation angle (in radians)

Definition at line 293 of file Quaternion.cpp.

◆ fromAxisAngle() [2/2]

void Quaternion::fromAxisAngle ( const yarp::sig::Vector & v )

Computes the quaternion from an axis-angle representation.

Parameters

v	a 4D vector, where the first three elements represent the axis, while the fourth element represents the angle (in radians)

Definition at line 282 of file Quaternion.cpp.

◆ fromRotationMatrix()

void Quaternion::fromRotationMatrix ( const yarp::sig::Matrix & R )

Converts a rotation matrix to a quaternion.

The returned quaternion is ordered in the following way:

s = q_0 \in \mathbb{R} the real part of the quaternion
r = $\begin{bmatrix} q_1 \\ q_2 \\ q_3 \end{bmatrix} \in \mathbb{R}^3$ the imaginary part of the quaternion

The input rotation matrix and the output quaternion are related by the following formula:

$R(s,r) = I_{3\times3} + 2s r^{\wedge} + 2{r^\wedge}^2,$

where $r^{\wedge}$ is the skew-symmetric matrix such that:

$r \times v = r^\wedge v$

Note: This method is compatible with the rotation-quaternion convention used in the ROS tf2 library.

Parameters

R	the input rotation matrix.

Returns: 4 by 1 vector for the quaternion representation in the form
$\mathbf{q}=q_0 + i \cdot q_1 + j \cdot q_2 + k \cdot q_3$

Definition at line 162 of file Quaternion.cpp.

◆ getType()

yarp::os::Type yarp::math::Quaternion::getType ( ) const

inlineoverridevirtual

Reimplemented from yarp::os::Portable.

Definition at line 160 of file Quaternion.h.

◆ inverse()

Quaternion Quaternion::inverse ( ) const

Computes the inverse of the quaternion.

Definition at line 339 of file Quaternion.cpp.

◆ isValid()

bool Quaternion::isValid ( ) const

Check if the quaternion is valid.

Definition at line 57 of file Quaternion.cpp.

◆ normalize()

void Quaternion::normalize ( )

Normalizes the quaternion elements.

Definition at line 321 of file Quaternion.cpp.

◆ read()

bool Quaternion::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::Portable.

Definition at line 116 of file Quaternion.cpp.

◆ toAxisAngle()

yarp::sig::Vector Quaternion::toAxisAngle ( )

Definition at line 306 of file Quaternion.cpp.

◆ toRotationMatrix3x3()

yarp::sig::Matrix Quaternion::toRotationMatrix3x3 ( ) const

Converts a quaternion to a rotation matrix.

Parameters

q	the quaternion

Returns: the corresponding 3 by 3 rotation matrix

Definition at line 241 of file Quaternion.cpp.

◆ toRotationMatrix4x4()

yarp::sig::Matrix Quaternion::toRotationMatrix4x4 ( ) const

Converts a quaternion to a rotation matrix.

The quaternion is expected to be ordered in the following way:

s = q_0 \in \mathbb{R} the real part of the quaternion
r = \begin{bmatrix} q_1 \ q_2 \ q_3 \end{bmatrix} \in \mathbb{R}^3 the imaginary part of the quaternion

The returned rotation matrix is given by the following formula:

$R(s,r) = I_{3\times3} + 2s r^{\wedge} + 2{r^\wedge}^2,$

where $r^{\wedge}$ is the skew-symmetric matrix such that:

$r \times v = r^\wedge v$

Note: This method is compatible with the rotation-quaternion convention used in the ROS tf2 library.

Parameters

q	the 4 by 1 input quaternion in the form $\mathbf{q}=q_0 + i \cdot q_1 + j \cdot q_2 + k \cdot q_3$

Returns: 4 by 4 homogeneous matrix representing with the rotation components in the top left 3 by 3 submatrix.

Definition at line 222 of file Quaternion.cpp.

◆ toString()

std::string Quaternion::toString	(	int	precision = `-1`,
		int	width = `-1`
	)		const

Definition at line 260 of file Quaternion.cpp.

◆ toVector()

yarp::sig::Vector Quaternion::toVector ( ) const

Converts the quaternion to a vector of length 4.

Definition at line 66 of file Quaternion.cpp.

◆ w() [1/2]

double & Quaternion::w ( )

Definition at line 96 of file Quaternion.cpp.

◆ w() [2/2]

double Quaternion::w ( ) const

Definition at line 76 of file Quaternion.cpp.

◆ write()

bool Quaternion::write ( yarp::os::ConnectionWriter & connection ) const

overridevirtual

Write vector to a connection.

return true iff a vector was written correctly

Implements yarp::os::Portable.

Definition at line 141 of file Quaternion.cpp.

◆ x() [1/2]

double & Quaternion::x ( )

Definition at line 101 of file Quaternion.cpp.

◆ x() [2/2]

double Quaternion::x ( ) const

Definition at line 81 of file Quaternion.cpp.

◆ y() [1/2]

double & Quaternion::y ( )

Definition at line 106 of file Quaternion.cpp.

◆ y() [2/2]

double Quaternion::y ( ) const

Definition at line 86 of file Quaternion.cpp.

◆ z() [1/2]

double & Quaternion::z ( )

Definition at line 111 of file Quaternion.cpp.

◆ z() [2/2]

double Quaternion::z ( ) const

Definition at line 91 of file Quaternion.cpp.

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

src/libYARP_math/src/yarp/math/Quaternion.h
src/libYARP_math/src/yarp/math/Quaternion.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Quaternion() [1/2]

◆ Quaternion() [2/2]

Member Function Documentation

◆ abs()

◆ arg()

◆ data() [1/2]

◆ data() [2/2]

◆ fromAxisAngle() [1/2]

◆ fromAxisAngle() [2/2]

◆ fromRotationMatrix()

◆ getType()

◆ inverse()

◆ isValid()

◆ normalize()

◆ read()

◆ toAxisAngle()

◆ toRotationMatrix3x3()

◆ toRotationMatrix4x4()

◆ toString()

◆ toVector()

◆ w() [1/2]

◆ w() [2/2]

◆ write()

◆ x() [1/2]

◆ x() [2/2]

◆ y() [1/2]

◆ y() [2/2]

◆ z() [1/2]

◆ z() [2/2]