jafar::traversability::Quaternion Class Reference

This class represents a quaternion. More...

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Detailed Description

This class represents a quaternion.

It mainly consists of a vector (jblas::vec4 ) for which some simple methods are defined. This class can be extended, if more functionality is needed.

Definition at line 244 of file trv_util.hpp.

#include <trv_util.hpp>

List of all members.

Public Member Functions
	Quaternion ()
	Standard constructor, sets the quaternion to [1,0,0,0].
	Quaternion (jblas::mat33 R)
	Constructor, which takes a rotation matrix R and translates it into a quaternion, that represents the same rotation.
	Quaternion (jblas::vec3 axis, double phi)
	Constructor, which takes an axis and an angle which define a rotation and translates this information into the corresponding quaternion that represents the same rotation.
	Quaternion (double psi, double theta, double phi)
	Quaternion (double q0, double q1, double q2, double q3)
Private Attributes
jblas::vec4	mq

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Constructor & Destructor Documentation

jafar::traversability::Quaternion::Quaternion

(

jblas::mat33

R

)

Constructor, which takes a rotation matrix R and translates it into a quaternion, that represents the same rotation.

Parameters:

R	rotation matrix, of type jblas::mat33

jafar::traversability::Quaternion::Quaternion	(	jblas::vec3	axis,
		double	phi
	)

Constructor, which takes an axis and an angle which define a rotation and translates this information into the corresponding quaternion that represents the same rotation.

Parameters:

axis	(unit) vector defining an axis, type jblas::vec3
phi	angle in radian

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

• modules/traversability/include/traversability/trv_util.hpp