Namespace inertialsim::geometry::quaternion¶

Namespace List > inertialsim > geometry > quaternion

Quaternion rotation representation conversions (internal API). More...

Public Functions¶

Type	Name
Vector3D	Apply (const Quaternion & quaternion, const Vector3D & vector) Apply quaternion rotation to a vector.
Quaternion	Compose (const Quaternion & q2, const Quaternion & q1) Compose two quaternions.
Quaternion	Conjugate (const Quaternion & quaternion) Conjugate of a quaternion.
Quaternion	FromAxisAngle (const Vector3D & axis, const Scalar1D & angle, bool passive=false) Quaternion representation from axis and angle of rotation.
Quaternion	FromEuler (const EulerAngles & euler, const std::string & sequence) Quaternion representation from Euler angles.
Quaternion	FromMatrix (const RotationMatrixArray & matrix) Quaternion representation from rotation matrix.
Quaternion	FromQuaternion (const Quaternion & quaternion, bool scalar_last=false) Quaternion representation from quaternion.
Quaternion	FromRotationVector (const RotationVector & rotation_vector, bool passive=false) Quaternion representation from rotation vector.
Quaternion	Validate (const Quaternion & quaternion, bool scalar_last=false) Validates inputs meet quaternion conventions.

Detailed Description¶

Internal API

This namespace is part of InertialSim's internal API. Most users should use the Rotation class and its factory methods rather than calling these functions directly.

See also: Rotation

Public Functions Documentation¶

function Apply¶

Apply quaternion rotation to a vector.

Vector3D inertialsim::geometry::quaternion::Apply (
    const  Quaternion & quaternion,
    const  Vector3D & vector
)

Parameters:

quaternion Quaternion(s).
vector Vector(s).

Returns:

Rotated vectors.

function Compose¶

Compose two quaternions.

Quaternion inertialsim::geometry::quaternion::Compose (
    const  Quaternion & q2,
    const  Quaternion & q1
)

Parameters:

q2 Quaternion #2 (4, N) or (4, 1).
q1 Quaternion #1 (4, N) or (4, 1).

Returns:

Composed quaternion q3 = q2*q1 (4, N).

function Conjugate¶

Conjugate of a quaternion.

Quaternion inertialsim::geometry::quaternion::Conjugate (
    const  Quaternion & quaternion
)

Parameters:

quaternion Quaternion(s) (4, N).

Returns:

Conjugated quaternion(s) (4, N).

function FromAxisAngle¶

Quaternion representation from axis and angle of rotation.

Quaternion inertialsim::geometry::quaternion::FromAxisAngle (
    const  Vector3D & axis,
    const  Scalar1D & angle,
    bool passive=false
)

Parameters:

axis Unit vector(s) representing the axis of rotation.
angle Angle(s) which are applied around the corresponding axis.
passive Interpret the rotation as passive.

Returns:

Quaternion(s).

function FromEuler¶

Quaternion representation from Euler angles.

Quaternion inertialsim::geometry::quaternion::FromEuler (
    const  EulerAngles & euler,
    const std::string & sequence
)

Parameters:

euler Euler angles.
sequence Euler angle rotation sequence (e.g., "XYZ").

Returns:

Quaternion(s).

function FromMatrix¶

Quaternion representation from rotation matrix.

Quaternion inertialsim::geometry::quaternion::FromMatrix (
    const  RotationMatrixArray & matrix
)

Parameters:

matrix Vector of rotation matrices.

Returns:

Quaternion(s).

function FromQuaternion¶

Quaternion representation from quaternion.

Quaternion inertialsim::geometry::quaternion::FromQuaternion (
    const  Quaternion & quaternion,
    bool scalar_last=false
)

Parameters:

quaternion Quaternion(s).
scalar_last If true, assume scalar is the last element.

Returns:

Validated quaternion(s).

function FromRotationVector¶

Quaternion representation from rotation vector.

Quaternion inertialsim::geometry::quaternion::FromRotationVector (
    const  RotationVector & rotation_vector,
    bool passive=false
)

Parameters:

rotation_vector Rotation vector(s).
passive Interpret the rotation as passive.

Returns:

Quaternion(s).

function Validate¶

Validates inputs meet quaternion conventions.

Quaternion inertialsim::geometry::quaternion::Validate (
    const  Quaternion & quaternion,
    bool scalar_last=false
)

Parameters:

quaternion Quaternion(s) (4, N).
scalar_last If true, assume scalar is the last element.

Returns:

The validated quaternion(s) (4, N), with scalar first and positive.

The documentation for this class was generated from the following file cpp/include/inertialsim/geometry/rotation_conversions/quaternion.h