Visual Servoing Platform version 3.5.0
vpQuaternionVector.h
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3 * ViSP, open source Visual Servoing Platform software.
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10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
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20 * Inria Rennes - Bretagne Atlantique
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26 * Inria at visp@inria.fr
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28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Quaternion definition.
33 *
34 * Authors:
35 * Filip Novotny
36 *
37 *****************************************************************************/
38
39#ifndef _vpQuaternionVector_h_
40#define _vpQuaternionVector_h_
41
50#include <visp3/core/vpConfig.h>
51#include <visp3/core/vpRotationMatrix.h>
52#include <visp3/core/vpRotationVector.h>
53#include <visp3/core/vpThetaUVector.h>
54
111class VISP_EXPORT vpQuaternionVector : public vpRotationVector
112{
113private:
114 static const double minimum;
115
116public:
119 vpQuaternionVector(const double qx, const double qy, const double qz, const double qw);
120 explicit vpQuaternionVector(const vpRotationMatrix &R);
121 explicit vpQuaternionVector(const vpThetaUVector &tu);
122 explicit vpQuaternionVector(const vpColVector &q);
123 explicit vpQuaternionVector(const std::vector<double> &q);
124
127
128 vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw);
129 vpQuaternionVector buildFrom(const vpRotationMatrix &R);
130 vpQuaternionVector buildFrom(const vpThetaUVector &tu);
131 vpQuaternionVector buildFrom(const vpColVector &q);
132 vpQuaternionVector buildFrom(const std::vector<double> &q);
133 void set(double x, double y, double z, double w);
134
135 double x() const;
136 double y() const;
137 double z() const;
138 double w() const;
139
140 vpQuaternionVector operator+(const vpQuaternionVector &q) const;
141 vpQuaternionVector operator-(const vpQuaternionVector &q) const;
142 vpQuaternionVector operator-() const;
143 vpQuaternionVector operator*(double l) const;
145 vpQuaternionVector operator/( double l) const;
147#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
149 vpQuaternionVector &operator=(const std::initializer_list<double> &list);
150#endif
151
152 vpQuaternionVector conjugate() const;
153 vpQuaternionVector inverse() const;
154 double magnitude() const;
155 void normalize();
156};
157
158#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of a rotation vector as quaternion angle minimal representation.
vpQuaternionVector & operator=(const vpQuaternionVector &q)=default
virtual ~vpQuaternionVector()
Destructor.
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a generic rotation vector.
vpRotationVector & operator=(const vpRotationVector &v)
vpColVector operator*(double x) const
Implementation of a rotation vector as axis-angle minimal representation.