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Lightweight Robot Utility Library
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amino::Quat Struct Reference

A quaternion object. More...

#include <tf.hpp>

Inheritance diagram for amino::Quat:
aa_tf_quat

Public Member Functions

 Quat ()
 Construct an identity quaternion.
 
 Quat (const aa_tf_quat *p)
 Construct from another quaternion.
 
 Quat (const aa_tf_quat &p)
 Construct from another quaternion.
 
 Quat (const aa_tf_rotmat *p)
 Construct from a rotation matrix.
 
 Quat (const aa_tf_rotmat &p)
 Construct from a rotation matrix.
 
 Quat (const aa_tf_axang *p)
 Construct from an axix angle rotation.
 
 Quat (const aa_tf_axang &p)
 Construct from an axix angle rotation.
 
 Quat (const XAngle &p)
 Construct from a rotation about the x axis.
 
 Quat (const YAngle &p)
 Construct from a rotation about the Y axis.
 
 Quat (const ZAngle &p)
 Construct from a rotation about the Z axis.
 

Static Public Member Functions

static aa_tf_quat from_quat (const double x[4])
 Create a quaternion object from a quaternion array.
 
static aa_tf_quat from_xyzw (double x, double y, double z, double w)
 Create a quaternion object from components.
 
static aa_tf_quat from_rotmat (const double x[9])
 Create a quaternion object a rotation matrix.
 
static aa_tf_quat from_axang (const double x[4])
 Create a quaternion object an axis-angle.
 
static aa_tf_quat from_axang (const double a[3], double angle)
 Create a quaternion object an axis-angle.
 
static aa_tf_quat from_rotvec (const double x[3])
 Create a quaternion object a rotation vector.
 
static aa_tf_quat from_xangle (const double v)
 Create a quaternion object rotation about x.
 
static aa_tf_quat from_yangle (const double v)
 Create a quaternion object rotation about y.
 
static aa_tf_quat from_zangle (const double v)
 Create a quaternion object rotation about z.
 

Additional Inherited Members

- Public Attributes inherited from aa_tf_quat
union {
   struct {
      double   x
 x component
 
      double   y
 y component
 
      double   z
 z component
 
      double   w
 w component
 
   } 
 
   struct {
      union {
         struct aa_tf_vec3   vec
 vector part
 
         double   v [3]
 vector part
 
      } 
 
      double   scalar
 scalar part
 
   } 
 
   double   data [4]
 data array
 
}; 
 

Detailed Description

A quaternion object.

Definition at line 174 of file tf.hpp.


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