Visual Servoing Platform version 3.6.0
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vpQuaternionVector.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Quaternion definition.
32 */
33
34#ifndef _vpQuaternionVector_h_
35#define _vpQuaternionVector_h_
36
45#include <visp3/core/vpConfig.h>
46#include <visp3/core/vpRotationMatrix.h>
47#include <visp3/core/vpRotationVector.h>
48#include <visp3/core/vpThetaUVector.h>
49
106class VISP_EXPORT vpQuaternionVector : public vpRotationVector
107{
108private:
109 static const double minimum;
110
111public:
114 vpQuaternionVector(const double qx, const double qy, const double qz, const double qw);
115 explicit vpQuaternionVector(const vpRotationMatrix &R);
116 explicit vpQuaternionVector(const vpThetaUVector &tu);
117 explicit vpQuaternionVector(const vpColVector &q);
118 explicit vpQuaternionVector(const std::vector<double> &q);
119
122
123 vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw);
124 vpQuaternionVector buildFrom(const vpRotationMatrix &R);
125 vpQuaternionVector buildFrom(const vpThetaUVector &tu);
126 vpQuaternionVector buildFrom(const vpColVector &q);
127 vpQuaternionVector buildFrom(const std::vector<double> &q);
128 void set(double x, double y, double z, double w);
129
130 const double& x() const;
131 const double& y() const;
132 const double& z() const;
133 const double& w() const;
134
135 double& x();
136 double& y();
137 double& z();
138 double& w();
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 static double dot(const vpQuaternionVector& q0, const vpQuaternionVector& q1);
158
159 static vpQuaternionVector lerp(const vpQuaternionVector& q0, const vpQuaternionVector& q1, double t);
160 static vpQuaternionVector nlerp(const vpQuaternionVector& q0, const vpQuaternionVector& q1, double t);
161 static vpQuaternionVector slerp(const vpQuaternionVector& q0, const vpQuaternionVector& q1, double t);
162};
163
164#endif
Implementation of column vector and the associated operations.
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.