/usr/include/x86_64-linux-gnu/visp3/core/vpQuaternionVector.h is in libvisp-core-dev 3.0.0-4.
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*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Quaternion definition.
*
* Authors:
* Filip Novotny
*
*****************************************************************************/
#ifndef __QUATERNIONVECTOR_H__
#define __QUATERNIONVECTOR_H__
/*!
\file vpQuaternionVector.h
\brief Class that consider the case of a quaternion and basic
operations on it.
*/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRotationVector.h>
#include <visp3/core/vpThetaUVector.h>
/*!
\class vpQuaternionVector
\ingroup group_core_transformations
\brief Implementation of a rotation vector as quaternion angle
minimal representation.
Defines a quaternion and its basic operations.
The vpQuaternionVector class is derived from vpRotationVector.
A quaternion is defined by four values: \f${\bf q} = (x, y, z, w)\f$.
This class allows to compute a quaternion from a rotation matrix
using either vpQuaternionVector(const vpRotationMatrix &) constructor
or buildFrom() method.
It also defines common operations on a quaternion such as:
- multiplication (scalar and quaternion)
- addition
- substraction.
*/
class VISP_EXPORT vpQuaternionVector : public vpRotationVector
{
private:
static const double minimum;
public:
vpQuaternionVector();
vpQuaternionVector(const vpQuaternionVector &q);
vpQuaternionVector(const double qx, const double qy, const double qz,const double qw) ;
vpQuaternionVector(const vpRotationMatrix &R);
vpQuaternionVector(const vpThetaUVector& tu) ;
//! Destructor.
virtual ~vpQuaternionVector() {};
vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw) ;
vpQuaternionVector buildFrom(const vpRotationMatrix& R);
vpQuaternionVector buildFrom(const vpThetaUVector& tu);
void set(const double x, const double y, const double z, const double w) ;
double x() const;
double y() const;
double z() const;
double w() const;
vpQuaternionVector operator+(const vpQuaternionVector &q) const;
vpQuaternionVector operator-(const vpQuaternionVector &q) const;
vpQuaternionVector operator-() const;
vpQuaternionVector operator*(const double l) const;
vpQuaternionVector operator*(const vpQuaternionVector &rq) const;
vpQuaternionVector operator/(const double l) const;
vpQuaternionVector conjugate() const;
vpQuaternionVector inverse() const;
double magnitude() const;
void normalize();
} ;
#endif
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