RvPQuat.hxx File Reference

A random collection of quaternion code. More...

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Functions
template<class T >
double	dueca::Q2phi (const T &quat)
	Extract the roll angle from a rotation quaternion.
template<class T >
double	dueca::Q2tht (const T &quat)
	Extract the pitch angle from a rotation quaternion.
template<class T >
double	dueca::Q2psi (const T &quat)
	Extract the yaw angle from a rotation quaternion.
template<class T1 , class T2 >
void	dueca::phithtpsi2Q (T1 &quat, const T2 phi, const T2 tht, const T2 psi)
	Construct a quaternion from Euler-Rodriguez angles.
template<class T , class U , class V >
void	dueca::QxQ (T &result, const U &q1, const V &q2)
	Multiply two quaternions.
template<class T >
void	dueca::Qconjugate (T &q)
	Convert a quaternion to its conjugate.
template<typename S , typename T >
S &	dueca::printQ (S &s, const T &quat)
	Print a quaternion to stream.
template<typename S , typename T >
S &	dueca::printPTP (S &s, const T &quat)
	Print a quaternion to stream in its Euler angles form.
template<typename M , typename T >
void	dueca::Q2R (M &mat, const T &q)
	Calculate the rotation matrix for a quaternion.
template<class Mat , class Vec >
void	dueca::cross_prod_matrix (Mat &m, const Vec &v)
	Cross-product matrix set up from a vector.

Detailed Description

A random collection of quaternion code.

Function Documentation

Q2phi()

template<class T >

double dueca::Q2phi ( const T & quat )

inline

Extract the roll angle from a rotation quaternion.

Template Parameters

T	vector type

Parameters

quat	given quaternion

Returns

Roll angle, double

Q2tht()

template<class T >

double dueca::Q2tht ( const T & quat )

inline

Extract the pitch angle from a rotation quaternion.

Template Parameters

T	vector type

Parameters

quat	given quaternion

Returns

Pitch angle, double

Q2psi()

template<class T >

double dueca::Q2psi ( const T & quat )

inline

Extract the yaw angle from a rotation quaternion.

Template Parameters

T	vector type

Parameters

quat	given quaternion

Returns

Yaw angle, double

phithtpsi2Q()

template<class T1 , class T2 >

void dueca::phithtpsi2Q ( T1 & quat, const T2 phi, const T2 tht, const T2 psi )

inline

Construct a quaternion from Euler-Rodriguez angles.

Template Parameters

T1	Vector type for quaternion
T2	Data type for angles

Parameters

quat	Returned, quaternion vector
phi	Roll angle
tht	Pitch angle
psi	Yaw angle

QxQ()

template<class T , class U , class V >

void dueca::QxQ ( T & result, const U & q1, const V & q2 )

inline

Multiply two quaternions.

Template Parameters

T	Vector type for result quaternion
U	Vector type for first
V	Vector type for second

Parameters

result	Result quaternion
q1	First input
q2	Second input

Qconjugate()

template<class T >

void dueca::Qconjugate ( T & q )

inline

Convert a quaternion to its conjugate.

Template Parameters

T	Four-element vector/array type

Parameters

q	Quaternion to change

printQ()

template<typename S , typename T >

S & dueca::printQ	(	S &	s,
		const T &	quat )

Print a quaternion to stream.

Template Parameters

S	Stream type
T	Four-element vector/array type

Parameters

s	Stream object
quat	Quaternion

Returns

A reference to the stream object

printPTP()

template<typename S , typename T >

S & dueca::printPTP	(	S &	s,
		const T &	quat )

Print a quaternion to stream in its Euler angles form.

Template Parameters

S	Stream type
T	Four-element vector/array type

Parameters

s	Stream object
quat	Quaternion

Returns

A reference to the stream object

Q2R()

template<typename M , typename T >

void dueca::Q2R ( M & mat, const T & q )

inline

Calculate the rotation matrix for a quaternion.

Template Parameters

M	Matrix format
T	Four-element vector/array type

Parameters

mat	Matrix to be filled
q	Rotation quaternion

cross_prod_matrix()

template<class Mat , class Vec >

void dueca::cross_prod_matrix ( Mat & m, const Vec & v )

inline

Cross-product matrix set up from a vector.

Template Parameters

Mat	Matrix type
Vec	Quaternion vector type

Parameters

m	Resulting matrix
v	Three-element vector