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()
Extract the roll angle from a rotation quaternion.
- Template Parameters
-
T vector type
- Parameters
-
quat given quaternion
- Returns
- Roll angle, double
◆ Q2tht()
Extract the pitch angle from a rotation quaternion.
- Template Parameters
-
T vector type
- Parameters
-
quat given quaternion
- Returns
- Pitch angle, double
◆ Q2psi()
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 >
|
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 >
|
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 >
|
inline |
Convert a quaternion to its conjugate.
- Template Parameters
-
T Four-element vector/array type
- Parameters
-
q Quaternion to change
◆ printQ()
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()
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()
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