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ROBOOP::Quaternion Class Reference#include <quaternion.h>
Detailed DescriptionQuaternion class definition.Definition at line 82 of file quaternion.h.
Constructor & Destructor Documentation
Constructor. Cite_: Dam. The unit quaternion obtained from a matrix (see Quaternion::R())
First we find
Now the other values are:
The sign of Definition at line 119 of file quaternion.cpp.
Member Function Documentation
Overload + operator. The quaternion addition is
The result is not necessarily a unit quaternion even if Definition at line 211 of file quaternion.cpp.
Overload - operator. The quaternion soustraction is
The result is not necessarily a unit quaternion even if Definition at line 231 of file quaternion.cpp.
Overload * operator. The multiplication of two quaternions is
where
If Definition at line 251 of file quaternion.cpp.
Overload * operator, multiplication by a scalar.
The result is not necessarily a unit quaternion even if Definition at line 274 of file quaternion.cpp.
Overload / operator, division by a scalar. Same explanation as multiplication by scaler. Definition at line 304 of file quaternion.cpp.
Conjugate.
The conjugate of a quaternion Definition at line 327 of file quaternion.cpp. Referenced by i().
Quaternion inverse.
where
Definition at line 367 of file quaternion.cpp. Referenced by ROBOOP::Impedance::control(), operator/(), Quaternion(), ROBOOP::Slerp(), ROBOOP::Slerp_prime(), and ROBOOP::Squad_prime().
Normalize a quaternion.
Definition at line 355 of file quaternion.cpp. Referenced by ROBOOP::Integ_quat().
Exponential of a quaternion.
Let a quaternion of the form Definition at line 380 of file quaternion.cpp. Referenced by power().
Definition at line 402 of file quaternion.cpp. Referenced by ROBOOP::Slerp(), and ROBOOP::Squad_prime().
Logarithm of a unit quaternion.
The logarithm function of a unit quaternion Definition at line 409 of file quaternion.cpp. Referenced by power(), ROBOOP::Slerp_prime(), and ROBOOP::Squad_prime().
Quaternion time derivative. The quaternion time derivative, quaternion propagation equation, is
where
Definition at line 432 of file quaternion.cpp. Referenced by ROBOOP::Impedance::control().
Matrix E. See Quaternion::dot for explanation. Definition at line 470 of file quaternion.cpp. Referenced by ROBOOP::Impedance::control(), dot(), and ROBOOP::Omega().
Return the quaternion norm. The norm of quaternion is defined by
Definition at line 342 of file quaternion.cpp.
Quaternion dot product. The dot product of quaternion is defined by
Definition at line 489 of file quaternion.cpp. Referenced by ROBOOP::Impedance::control(), ROBOOP::Slerp(), ROBOOP::Slerp_prime(), and ROBOOP::Resolved_acc::torque_cmd().
Return scalar part.
Definition at line 113 of file quaternion.h. Referenced by ROBOOP::Clik::endeff_pos_ori_err(), ROBOOP::Integ_quat(), ROBOOP::Integ_Trap_quat_s(), and ROBOOP::Resolved_acc::torque_cmd().
Set scalar part.
Definition at line 114 of file quaternion.h. Referenced by ROBOOP::Integ_quat(), and ROBOOP::Integ_Trap_quat_s().
Return vector part.
Definition at line 115 of file quaternion.h. Referenced by ROBOOP::Impedance::control(), ROBOOP::Clik::endeff_pos_ori_err(), ROBOOP::Integ_quat(), ROBOOP::Integ_Trap_quat_v(), ROBOOP::Omega(), and ROBOOP::Resolved_acc::torque_cmd().
Set vector part. Set quaternion vector part. Definition at line 318 of file quaternion.cpp. Referenced by ROBOOP::Integ_quat(), and ROBOOP::Integ_Trap_quat_v().
Rotation matrix from a unit quaternion.
where
Definition at line 502 of file quaternion.cpp. Referenced by Quaternion(), and ROBOOP::Dynamics::set_robot_on_first_point_of_splines().
Transformation matrix from a quaternion. See Quaternion::R() for equations. Definition at line 543 of file quaternion.cpp.
Member Data Documentation
Quaternion scalar part.
Definition at line 121 of file quaternion.h. Referenced by conjugate(), dot(), dot_prod(), E(), exp(), Log(), norm(), operator *(), operator+(), operator-(), operator/(), operator=(), Quaternion(), R(), s(), set_s(), T(), and unit().
Quaternion vector part.
Definition at line 122 of file quaternion.h. Referenced by conjugate(), dot(), dot_prod(), E(), exp(), Log(), norm(), operator *(), operator+(), operator-(), operator/(), operator=(), Quaternion(), R(), set_v(), T(), unit(), and v().
The documentation for this class was generated from the following files: |
ROBOOP v1.21a |
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