quaternion< datatype > Class Template Reference

maintain attitude and provide coordinate transformation services More...

#include <quaternion.h>

Inheritance diagram for quaternion< datatype >:

Collaboration diagram for quaternion< datatype >:

Public Member Functions
	quaternion (vector< datatype, 3 > &init)
	constructor from euler angle
	quaternion ()
	constructor from datatype[4]
void	normalize (void)
	normalize quaternion absolute value to ONE
	operator eulerangle< datatype > () const
	quaternion -> euler angle transformation
datatype	get_north (void) const
	get north component of attitude
datatype	get_east (void) const
	get east component of attitude
datatype	get_down (void) const
	get down component of attitude
datatype	get_heading (void) const
	get heading component of attitude
void	rotate (datatype p, datatype q, datatype r)
	quaternion update using rotation vector
void	from_euler (datatype p, datatype q, datatype r)
	euler angle -> quaternion transformation
void	get_rotation_matrix (matrix< datatype, 3 > &m) const
	quaternion -> rotation matrix transformation
quaternion< datatype >	operator* (quaternion< datatype > &right)
void	from_rotation_matrix (matrix< datatype, 3 > &rotm)
Public Member Functions inherited from vector< datatype, 4 >
	vector (void)
	vector (const datatype *data)
	constructor from datatype []
	vector (const vector &right)
	copy constructor
datatype	scalar_multiply (const vector &right) const
	< scalar product
datatype	operator* (const vector &right) const
	< scalar (dot) product -> scalar
vector	operator* (const datatype &right) const
	< multiply vector by scalar
vector	vector_multiply (const vector &right) const
	< vector cross product -> vector
datatype	abs (void) const
	vector abs operator returns absolute value
vector &	operator= (const vector &right)
	vector copy operator - size checked through template
void	zero (void)
	set all elements to zero
vector &	negate (void)
vector &	operator+= (const vector &right)
	operator +=
vector &	operator-= (const vector &right)
	operator -=
vector	operator+ (const vector &right) const
	operator +
vector	operator- (const vector &right) const
	operator - (vector - vector returns vector)
vector &	operator*= (const datatype &right)
datatype &	operator[] (const int index)
const datatype	operator[] (int index) const
void	normalize (void)
	vector normalization

Detailed Description

template<class datatype>
class quaternion< datatype >

maintain attitude and provide coordinate transformation services

Definition at line 35 of file quaternion.h.

Constructor & Destructor Documentation

quaternion() [1/2]

template<class datatype >

quaternion< datatype >::quaternion ( vector< datatype, 3 > &  init )

inline

constructor from euler angle

Definition at line 39 of file quaternion.h.

References quaternion< datatype >::from_euler().

quaternion() [2/2]

template<class datatype >

quaternion< datatype >::quaternion ( )

inline

constructor from datatype[4]

Definition at line 45 of file quaternion.h.

Member Function Documentation

from_euler()

template<class datatype >

void quaternion< datatype >::from_euler ( datatype  p, datatype  q, datatype  r  )

inline

euler angle -> quaternion transformation

Definition at line 139 of file quaternion.h.

References COS, HALF, SIN, and vector< datatype, 4 >::vector().

Referenced by quaternion< datatype >::quaternion(), and AHRS_type::set_from_euler().

from_rotation_matrix()

template<class datatype >

void quaternion< datatype >::from_rotation_matrix ( matrix< datatype, 3 > &  rotm )

inline

formula from roenbaeck p35

Parameters

rotm	rotation matrix -> quaternion transformation

Definition at line 194 of file quaternion.h.

References HALF, quaternion< datatype >::normalize(), ONE, QUARTER, SQRT, and vector< datatype, 4 >::vector().

Referenced by AHRS_type::attitude_setup().

get_down()

template<class datatype >

datatype quaternion< datatype >::get_down ( void  ) const

inline

get down component of attitude

Definition at line 101 of file quaternion.h.

References TWO, and vector< datatype, 4 >::vector().

Referenced by AHRS_type::get_down().

get_east()

template<class datatype >

datatype quaternion< datatype >::get_east ( void  ) const

inline

get east component of attitude

Definition at line 91 of file quaternion.h.

References TWO, and vector< datatype, 4 >::vector().

Referenced by AHRS_type::get_east().

get_heading()

template<class datatype >

datatype quaternion< datatype >::get_heading ( void  ) const

inline

get heading component of attitude

Definition at line 111 of file quaternion.h.

References ATAN2, and TWO.

get_north()

template<class datatype >

datatype quaternion< datatype >::get_north ( void  ) const

inline

get north component of attitude

Definition at line 81 of file quaternion.h.

References vector< datatype, 4 >::vector().

Referenced by AHRS_type::get_north().

get_rotation_matrix()

template<class datatype >

void quaternion< datatype >::get_rotation_matrix ( matrix< datatype, 3 > &  m ) const

inline

quaternion -> rotation matrix transformation

R.Rogers formula 2.90

Definition at line 156 of file quaternion.h.

References ONE, TWO, and vector< datatype, 4 >::vector().

Referenced by AHRS_type::attitude_setup(), and AHRS_type::set_from_euler().

normalize()

template<class datatype >

void quaternion< datatype >::normalize ( void  )

inline

normalize quaternion absolute value to ONE

Definition at line 52 of file quaternion.h.

References ONE, SQRT, and vector< datatype, 4 >::vector().

Referenced by quaternion< datatype >::from_rotation_matrix(), and quaternion< datatype >::rotate().

operator eulerangle< datatype >()

template<class datatype >

quaternion< datatype >::operator eulerangle< datatype > ( ) const

inline

quaternion -> euler angle transformation

formula from roenbaeck p34

Definition at line 65 of file quaternion.h.

References ASIN, ATAN2, TWO, and vector< datatype, 4 >::vector().

operator*()

template<class datatype >

quaternion< datatype > quaternion< datatype >::operator* ( quaternion< datatype > &  right )

inline

Parameters

right

quaternion multiplication

Definition at line 176 of file quaternion.h.

References vector< datatype, size >::vector(), and vector< datatype, 4 >::vector().

rotate()

template<class datatype >

void quaternion< datatype >::rotate ( datatype  p, datatype  q, datatype  r  )

inline

quaternion update using rotation vector

R.Rogers formula 2.92

Definition at line 122 of file quaternion.h.

References quaternion< datatype >::normalize().

---

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

• lib/Generic_Algorithms/quaternion.h