amino.tf.Quat Class Reference

Class for quaternions. More...

Inheritance diagram for amino.tf.Quat:

Public Member Functions
def	__init__ (self, arg=None)
	Construct a Quat object. More...
def	conv_from (self, src)
	Converts src to a quaternion.
def	to_quat (self, h)
	Converts (copy) to a quaternion.
def	to_rotmat (self, r)
	Converts to a rotation matrix and store in.
def	to_axang (self, a)
	Converts to an axis-angle and store in a.
def	to_eulerzyx (self)
	Converts to an euler zyx angle representation.
def	vector (self)
	Returns the vector (xyz) part.
def	scalar (self)
	Returns the scalar (w) part.
def	ssd (self, other)
	Sum-square-differences of self and other.
def	nrm2 (self)
	2-norm (Euclidean) of self.
def	__iadd__ (self, other)
def	__isub__ (self, other)
def	__add__ (self, other)
def	__radd__ (self, other)
def	__sub__ (self, other)
def	__rsub__ (self, other)
def	normalize (self)
	Normalize this object, i.e., divide by the magnitude.
def	minimize (self)
	Converts to the minimal quaternion for the represented rotation.
def	set_identity (self)
	Set to identity.
def	zero (self)
	Set to zero.
def	__imul__ (self, other)
def	__rmul__ (self, other)
def	__mul__ (self, other)
def	__getitem__ (self, key)
def	__setitem__ (self, key, item)
def	__len__ (self)
def	conj (self)
	Returns the conjugate.
def	__invert__ (self)
	Returns the inverse.
def	exp (self)
	Returns the exponential.
def	ln (self)
	Returns the natural logarithm.
def	rotate (self, p)
	Rotate a point by this quaternion.
def	__repr__ (self)
Public Member Functions inherited from amino.mixin.CopyEltsMixin
def	copy_from (self, src)
	Copy elements from src to self.
def	copy_to (self, dst)
	Copy elements from self to dst.
Public Member Functions inherited from amino.mixin.SSDEqMixin
def	__eq__ (self, other)
def	__ne__ (self, other)
def	isclose (self, other, rel_tol=1e-09, abs_tol=0.0)
	Returns true if object is close to other.
Public Member Functions inherited from amino.mixin.DivCompatMixin
def	__div__ (self, other)
def	__idiv__ (self, other)
	Divide self by a scala.

Static Public Member Functions
def	identity ()
	Returns the identity quaternion.
def	ensure (thing)
	Ensures thing is a Quat. More...

Public Attributes
	x
	y
	z
	w

Detailed Description

Class for quaternions.

Definition at line 468 of file tf.py.

Constructor & Destructor Documentation

__init__()

def amino.tf.Quat.__init__	(		self,
			arg = None
	)

Construct a Quat object.

   * If arg is None, the object is unitialized.
   * If arg is a list, the list elements are copied to the object.
   * If arg is an int or float, the scalar (w) of the object is set
     and the vector (xyz) is zero
   * If arg is a Vec3, the vector (xyz) of the object is set
     and the scalar (w) is zero
   * Else arg is converted to a Quat

Definition at line 489 of file tf.py.

Member Function Documentation

ensure()

def amino.tf.Quat.ensure (   thing )

static

Ensures thing is a Quat.

If it's not, convert it.

Definition at line 515 of file tf.py.

---

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

• /home/ntd/git/amino/python/amino/tf.py