Quaternion Class Reference

A class of quaternions and a number of linear algebra methods and operators. More...

#include <ZLinAlg.h>

List of all members.

Public Member Functions
bool	ComputeFromRotationMatrix (Column3Vector C0, Column3Vector C1, Column3Vector C2)
bool	conjugate ()
float	getW ()
float	getX ()
float	getY ()
float	getZ ()
float	norm ()
bool	normalize ()
Quaternion	operator* (Quaternion Qright)
Quaternion	operator/ (Quaternion Qright)
Quaternion &	operator= (Quaternion Qnew)
void	PrintSelf ()
	Quaternion ()
Column3Vector	RotateVector (Column3Vector P1)
void	setvalues (float X, float Y, float Z, float W)
void	setW (float W)
void	setX (float X)
void	setY (float Y)
void	setZ (float Z)
	~Quaternion ()
Private Attributes
float	QuaternionArray [4]

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Detailed Description

A class of quaternions and a number of linear algebra methods and operators.

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Constructor & Destructor Documentation

Quaternion::Quaternion

(

)

Constructor Class.

Returns:

none.

References QuaternionArray.

Quaternion::~Quaternion

(

)

Destructor Class

Returns:

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Member Function Documentation

bool Quaternion::ComputeFromRotationMatrix	(	Column3Vector	C0,
		Column3Vector	C1,
		Column3Vector	C2
	)

Compute quaternion elements from a rotation matrix. NOTE: The matrix columns should be orthonormal. This is not verified prior to computing the quaternion.

Parameters:

	C0	First column vector of the rotation matrix.
	C1	Second column vector of the rotation matrix.
	C2	Third column vector of the rotation matrix.

Returns:

true if success, false if the quaternion cannot be computed.

References getX(), Column3Vector::getX(), getY(), Column3Vector::getY(), getZ(), Column3Vector::getZ(), setW(), setX(), setY(), and setZ().

Referenced by zf::ZFrameCalibration::LocalizeFrame().

bool Quaternion::conjugate

(

)

References getW(), getX(), getY(), getZ(), setW(), setX(), setY(), and setZ().

Referenced by operator/(), and RotateVector().

float Quaternion::getW

(

)

Get fourth element of the quaternion.

Returns:

The scalar constant for the quaternion.

References QuaternionArray.

Referenced by conjugate(), zf::ZFrameCalibration::LocalizeFrame(), operator*(), operator=(), PrintSelf(), and zf::ZFrameCalibration::RegisterQuaternion().

float Quaternion::getX

(

)

Get first element of the quaternion.

Returns:

The x-coefficient for the quaternion.

References QuaternionArray.

Referenced by ComputeFromRotationMatrix(), conjugate(), zf::ZFrameCalibration::LocalizeFrame(), operator*(), operator=(), PrintSelf(), zf::ZFrameCalibration::RegisterQuaternion(), and RotateVector().

float Quaternion::getY

(

)

Get second element of the quaternion.

Returns:

The y-coefficient for the quaternion.

References QuaternionArray.

Referenced by ComputeFromRotationMatrix(), conjugate(), zf::ZFrameCalibration::LocalizeFrame(), operator*(), operator=(), PrintSelf(), zf::ZFrameCalibration::RegisterQuaternion(), and RotateVector().

float Quaternion::getZ

(

)

Get third element of the quaternion.

Returns:

The z-coefficient for the quaternion.

References QuaternionArray.

Referenced by ComputeFromRotationMatrix(), conjugate(), zf::ZFrameCalibration::LocalizeFrame(), operator*(), operator=(), PrintSelf(), zf::ZFrameCalibration::RegisterQuaternion(), and RotateVector().

float Quaternion::norm

(

)

Compute the norm of the 3-vector.

Returns:

The norm of the 3-vector.

References QuaternionArray.

Referenced by normalize().

bool Quaternion::normalize

(

)

Normalize the quaternion.

Returns:

True if successfully normalized, false if quaternion cannot be normalized.

References norm(), QuaternionArray, and VEPSILON.

Quaternion Quaternion::operator*

(

Quaternion

Qright

)

Multiply two quaternions.

Parameters:

Qright

The righthand multiplier.

Returns:

The result.

References getW(), getX(), getY(), getZ(), setW(), setX(), setY(), and setZ().

Quaternion Quaternion::operator/

(

Quaternion

Qright

)

Find relative rotation between two frames represented by two quaternions. Rotation multiplied by rotation inverse.

Parameters:

Qright

Returns:

Result.

References conjugate().

Quaternion & Quaternion::operator=

(

Quaternion

Qnew

)

Method for quaternion assignment operator.

Parameters:

Qnew

The new quaternion to be assigned.

Returns:

Result.

References getW(), getX(), getY(), getZ(), setW(), setX(), setY(), and setZ().

void Quaternion::PrintSelf

(

)

Print the contents of the quaternion vector to the console.

References getW(), getX(), getY(), and getZ().

Column3Vector Quaternion::RotateVector

(

Column3Vector

P1

)

Rotate a vector using a quaternion representation of that rotation.

Parameters:

P1

The vector to be rotated.

Returns:

References conjugate(), getX(), Column3Vector::getX(), getY(), Column3Vector::getY(), getZ(), Column3Vector::getZ(), setW(), Column3Vector::setX(), setX(), Column3Vector::setY(), setY(), Column3Vector::setZ(), and setZ().

Referenced by zf::ZFrameCalibration::LocalizeFrame(), and zf::ZFrameCalibration::RegisterQuaternion().

void Quaternion::setvalues	(	float	X,
		float	Y,
		float	Z,
		float	W
	)

Set all the quaternion vector elements.

Parameters:

	X	X element.
	Y	Y element.
	Z	Z element.
	W	Real element.

References setW(), setX(), setY(), and setZ().

void Quaternion::setW

(

float

W

)

Set the W element (real).

Parameters:

W

Desired value of W element (real).

References QuaternionArray.

Referenced by ComputeFromRotationMatrix(), conjugate(), operator*(), operator=(), zf::ZFrameCalibration::RegisterQuaternion(), RotateVector(), and setvalues().

void Quaternion::setX

(

float

X

)

Set the X element.

Parameters:

X

Desired value of X element.

References QuaternionArray.

Referenced by ComputeFromRotationMatrix(), conjugate(), operator*(), operator=(), zf::ZFrameCalibration::RegisterQuaternion(), RotateVector(), and setvalues().

void Quaternion::setY

(

float

Y

)

Set the Y element.

Parameters:

Y

Desired value of Y element.

References QuaternionArray.

Referenced by ComputeFromRotationMatrix(), conjugate(), operator*(), operator=(), zf::ZFrameCalibration::RegisterQuaternion(), RotateVector(), and setvalues().

void Quaternion::setZ

(

float

Z

)

Set the Z element.

Parameters:

Z

Desired value of Z element.

References QuaternionArray.

Referenced by ComputeFromRotationMatrix(), conjugate(), operator*(), operator=(), zf::ZFrameCalibration::RegisterQuaternion(), RotateVector(), and setvalues().

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Member Data Documentation

float Quaternion::QuaternionArray[4] [private]

Referenced by getW(), getX(), getY(), getZ(), norm(), normalize(), Quaternion(), setW(), setX(), setY(), and setZ().

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

• Modules/ProstateNav/newmat/ZLinAlg.h
• Modules/ProstateNav/newmat/ZLinAlg.cxx