jafar::geom::T3DQuaternion Class Reference

A 3D transformation where the rotation is represented with a quaternion. More...

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Detailed Description

A 3D transformation where the rotation is represented with a quaternion.

A vectorized T3D is in this form [x,y,z,qw,qx,qy,qz].
[x,y,z] represents translation.
[qw,qx,qy,qz] represents rotation .
qw the real part of the quaternion

Definition at line 23 of file t3dQuaternion.hpp.

#include <t3dQuaternion.hpp>

Inheritance diagram for jafar::geom::T3DQuaternion:

List of all members.

Public Member Functions
	T3DQuaternion (bool hasCov_=false)
	T3DQuaternion (const jblas::vec &x_, bool hasCov_=false)
	T3DQuaternion (const jblas::vec &x_, const jblas::sym_mat &xCov_)
	T3DQuaternion (const T3DQuaternion &t_)
T3DQuaternion &	operator= (const T3DQuaternion &t_)
Type	type () const
double	translationNorm () const
void	setValue (double x_, double y_, double z_, double qw_, double qx_, double qy_, double qz_)
void	normalize ()
Protected Member Functions
void	updateM () const
	update the homogeneous matrix from x.
void	updateX ()
	update x from the homogeneous matrix.
Friends
class	T3D

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Member Function Documentation

Type jafar::geom::T3DQuaternion::type

(

)

const [inline, virtual]

Returns:

the type of the T3D

Implements jafar::geom::T3D.

Definition at line 36 of file t3dQuaternion.hpp.

References jafar::geom::T3D::QUATERNION.

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

• modules/geom/include/geom/t3dQuaternion.hpp