amino  1.0-beta2
Lightweight Robot Utility Library
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amino::QuatTran Struct Reference

A rotation quaternion and translation vector object. More...

#include <tf.hpp>

Inheritance diagram for amino::QuatTran:
aa_tf_qv

Public Member Functions

 QuatTran ()
 Construct an idenity object.
 
 QuatTran (const struct aa_tf_qv *S)
 Construct from another quaternion-translation.
 
 QuatTran (const struct aa_tf_qv &S)
 Construct from another quaternion-translation.
 
 QuatTran (const struct aa_tf_quat *_r, const struct aa_tf_vec3 *_v)
 Construct from another quaternion-translation.
 
 QuatTran (const struct aa_tf_quat &_r, const struct aa_tf_vec3 &_v)
 Construct from another quaternion-translation.
 
 QuatTran (const struct aa_tf_duqu *S)
 Construct from a dual quaternion.
 
 QuatTran (const struct aa_tf_duqu &S)
 Construct from a dual quaternion.
 
 QuatTran (const struct aa_tf_tfmat *T)
 Construct from a transformation matrix.
 
 QuatTran (const struct aa_tf_tfmat &T)
 Construct from a transformation matrix.
 
aa_tf_qv conj ()
 Return the conjugate (inverse).
 

Static Public Member Functions

static aa_tf_qv from_xyzw (double q_x, double q_y, double q_z, double q_w, double t_x, double t_y, double t_z)
 Create a quaternion-translation from components.
 
static aa_tf_qv from_qv (const double a_r[4], const double a_v[3])
 Create a quaternion-translation from a rotation quaternion and a translation vector.
 
static aa_tf_qv from_qv (const double e[7])
 Create a quaternion-translation from a rotation quaternion and a translation vector.
 
static aa_tf_qv from_duqu (const double s[8])
 Create a quaternion-translation from a dual quaternion.
 
static aa_tf_qv from_tfmat (const double t[12])
 Create a quaternion-translation from a transformation matrix.
 

Additional Inherited Members

- Public Attributes inherited from aa_tf_qv
union {
   struct {
      aa_tf_quat_t   r
 
      aa_tf_vec3_t   v
 
   } 
 
   double   data [7]
 data array
 
}; 
 

Detailed Description

A rotation quaternion and translation vector object.

Definition at line 776 of file tf.hpp.


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