fcl::Quaternion3f Class Reference

Quaternion used locally by InterpMotion. More...

#include <hpp/fcl/math/transform.h>

Public Member Functions
	Quaternion3f ()
	Default quaternion is identity rotation. More...
	Quaternion3f (FCL_REAL a, FCL_REAL b, FCL_REAL c, FCL_REAL d)
bool	isIdentity () const
	Whether the rotation is identity. More...
void	fromRotation (const Matrix3f &R)
	Matrix to quaternion. More...
void	toRotation (Matrix3f &R) const
	Quaternion to matrix. More...
void	fromEuler (FCL_REAL a, FCL_REAL b, FCL_REAL c)
	Euler to quaternion. More...
void	toEuler (FCL_REAL &a, FCL_REAL &b, FCL_REAL &c) const
	Quaternion to Euler. More...
void	fromAxes (const Vec3f axis[3])
	Axes to quaternion. More...
void	toAxes (Vec3f axis[3]) const
	Axes to matrix. More...
void	fromAxisAngle (const Vec3f &axis, FCL_REAL angle)
	Axis and angle to quaternion. More...
void	toAxisAngle (Vec3f &axis, FCL_REAL &angle) const
	Quaternion to axis and angle. More...
FCL_REAL	dot (const Quaternion3f &other) const
	Dot product between quaternions. More...
Quaternion3f	operator+ (const Quaternion3f &other) const
	addition More...
const Quaternion3f &	operator+= (const Quaternion3f &other)
Quaternion3f	operator- (const Quaternion3f &other) const
	minus More...
const Quaternion3f &	operator-= (const Quaternion3f &other)
Quaternion3f	operator* (const Quaternion3f &other) const
	multiplication More...
const Quaternion3f &	operator*= (const Quaternion3f &other)
Quaternion3f	operator- () const
	division More...
Quaternion3f	operator* (FCL_REAL t) const
	scalar multiplication More...
const Quaternion3f &	operator*= (FCL_REAL t)
Quaternion3f &	conj ()
	conjugate More...
Quaternion3f &	inverse ()
	inverse More...
Vec3f	transform (const Vec3f &v) const
	rotate a vector More...
const FCL_REAL &	getW () const
const FCL_REAL &	getX () const
const FCL_REAL &	getY () const
const FCL_REAL &	getZ () const
FCL_REAL &	getW ()
FCL_REAL &	getX ()
FCL_REAL &	getY ()
FCL_REAL &	getZ ()
Vec3f	getColumn (std::size_t i) const
Vec3f	getRow (std::size_t i) const
bool	operator== (const Quaternion3f &other) const
bool	operator!= (const Quaternion3f &other) const
FCL_REAL	operator[] (std::size_t i) const

Detailed Description

Quaternion used locally by InterpMotion.

Constructor & Destructor Documentation

fcl::Quaternion3f::Quaternion3f ( )

inline

Default quaternion is identity rotation.

fcl::Quaternion3f::Quaternion3f ( FCL_REAL  a, FCL_REAL  b, FCL_REAL  c, FCL_REAL  d  )

inline

Member Function Documentation

Quaternion3f& fcl::Quaternion3f::conj

(

)

conjugate

Referenced by fcl::Transform3f::inverse().

FCL_REAL fcl::Quaternion3f::dot

(

const Quaternion3f &

other

)

const

Dot product between quaternions.

void fcl::Quaternion3f::fromAxes

(

const Vec3f

axis[3]

)

Axes to quaternion.

void fcl::Quaternion3f::fromAxisAngle	(	const Vec3f &	axis,
		FCL_REAL	angle
	)

Axis and angle to quaternion.

Referenced by fcl::ScrewMotion::deltaRotation().

void fcl::Quaternion3f::fromEuler	(	FCL_REAL	a,
		FCL_REAL	b,
		FCL_REAL	c
	)

Euler to quaternion.

void fcl::Quaternion3f::fromRotation

(

const Matrix3f &

R

)

Matrix to quaternion.

Referenced by fcl::Transform3f::setRotation(), fcl::Transform3f::setTransform(), fcl::Transform3f::Transform3f(), and fcl::TranslationMotion::TranslationMotion().

Vec3f fcl::Quaternion3f::getColumn

(

std::size_t

i

)

const

Vec3f fcl::Quaternion3f::getRow

(

std::size_t

i

)

const

const FCL_REAL& fcl::Quaternion3f::getW ( ) const

inline

FCL_REAL& fcl::Quaternion3f::getW ( )

inline

const FCL_REAL& fcl::Quaternion3f::getX ( ) const

inline

FCL_REAL& fcl::Quaternion3f::getX ( )

inline

const FCL_REAL& fcl::Quaternion3f::getY ( ) const

inline

FCL_REAL& fcl::Quaternion3f::getY ( )

inline

const FCL_REAL& fcl::Quaternion3f::getZ ( ) const

inline

FCL_REAL& fcl::Quaternion3f::getZ ( )

inline

Quaternion3f& fcl::Quaternion3f::inverse

(

)

inverse

bool fcl::Quaternion3f::isIdentity ( ) const

inline

Whether the rotation is identity.

Referenced by fcl::CollisionObject::computeAABB(), and fcl::Transform3f::isIdentity().

bool fcl::Quaternion3f::operator!= ( const Quaternion3f &  other ) const

inline

Quaternion3f fcl::Quaternion3f::operator*

(

const Quaternion3f &

other

)

const

multiplication

Quaternion3f fcl::Quaternion3f::operator*

(

FCL_REAL

t

)

const

scalar multiplication

const Quaternion3f& fcl::Quaternion3f::operator*=

(

const Quaternion3f &

other

)

const Quaternion3f& fcl::Quaternion3f::operator*=

(

FCL_REAL

t

)

Quaternion3f fcl::Quaternion3f::operator+

(

const Quaternion3f &

other

)

const

addition

const Quaternion3f& fcl::Quaternion3f::operator+=

(

const Quaternion3f &

other

)

Quaternion3f fcl::Quaternion3f::operator-

(

const Quaternion3f &

other

)

const

minus

Quaternion3f fcl::Quaternion3f::operator-

(

)

const

division

const Quaternion3f& fcl::Quaternion3f::operator-=

(

const Quaternion3f &

other

)

bool fcl::Quaternion3f::operator== ( const Quaternion3f &  other ) const

inline

FCL_REAL fcl::Quaternion3f::operator[] ( std::size_t  i ) const

inline

void fcl::Quaternion3f::toAxes

(

Vec3f

axis[3]

)

const

Axes to matrix.

void fcl::Quaternion3f::toAxisAngle	(	Vec3f &	axis,
		FCL_REAL &	angle
	)		const

Quaternion to axis and angle.

Referenced by fcl::ScrewMotion::computeScrewParameter().

void fcl::Quaternion3f::toEuler	(	FCL_REAL &	a,
		FCL_REAL &	b,
		FCL_REAL &	c
	)		const

Quaternion to Euler.

Referenced by fcl::SamplerSE3Euler::sample(), and fcl::SamplerSE3Euler_ball::sample().

void fcl::Quaternion3f::toRotation

(

Matrix3f &

R

)

const

Quaternion to matrix.

Vec3f fcl::Quaternion3f::transform

(

const Vec3f &

v

)

const

rotate a vector

Referenced by fcl::InterpMotion::getTaylorModel(), fcl::ScrewMotion::integrate(), fcl::Transform3f::inverse(), fcl::Transform3f::inverseTimes(), fcl::Transform3f::operator*(), fcl::Transform3f::operator*=(), and fcl::Transform3f::transform().