srm::OrientationQuaternion Class Reference

The OrientationQuaternion class. The Orientation subclass in quaternion representation. More...

#include <Orientation.h>

Inheritance diagram for srm::OrientationQuaternion:

[legend]Collaboration diagram for srm::OrientationQuaternion:

[legend]List of all members.

Public Member Functions
	OrientationQuaternion ()
	Default constructor.
	OrientationQuaternion (const SRM_Quaternion_Params &params)
	Constructor using quaternion parameter.
	OrientationQuaternion (SRM_Long_Float e0, SRM_Long_Float e1, SRM_Long_Float e2, SRM_Long_Float e3)
	Constructor using quaternion (e0, e1, e2, e3 ) parameters.
	OrientationQuaternion (const Orientation &other)
	Copy constructor.
virtual Orientation &	operator= (const Orientation &other)
	Assignment operator.
virtual SRM_Quaternion_Params	getQuaternion () const
	Gets the orientation in Quaternion representation.
virtual void	setQuaternion (const SRM_Quaternion_Params &params)
	Sets the quaternion orientation representation.
virtual void	setQuaternion (SRM_Long_Float e0, SRM_Long_Float e1, SRM_Long_Float e2, SRM_Long_Float e3)
	Sets the orientation using quaternion (e0, e1, e2, e3 ) parameters.
virtual std::string	toString () const
	Returns the string for the quaternion orientation representation.
virtual SRM_Ori_Rep_Type	getOriRep () const
	Returns the native orientation representation type.
Static Public Member Functions
bool	isValidParams (const SRM_Quaternion_Params &params)
	Returns true if the quaternion parameters represent a valid orientation.
OrientationQuaternion	compose (const Orientation &left, const Orientation &right)
	Composes the right orientation with the left orientation and returns the result in the output orientation, i.e., composed_ori = left*right.
bool	equivParams (const SRM_Quaternion_Params &params1, const SRM_Quaternion_Params &params2, SRM_Long_Float tolerance=0.0)
	ref: Table 7
Protected Member Functions
virtual void	_updateIntData () const
	the virtual function to convert the data from native representation to the internal representation
virtual void	_updateRepData ()
	the virtual function to convert the data from internal representation to the native representation
Protected Attributes
SRM_Quaternion_Params	_quaternion

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Detailed Description

The OrientationQuaternion class. The Orientation subclass in quaternion representation.

Author:

David Shen

Definition at line 734 of file Orientation.h.

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Constructor & Destructor Documentation

srm::OrientationQuaternion::OrientationQuaternion (   )

Default constructor. The default value is (0, 1, 0, 0).

srm::OrientationQuaternion::OrientationQuaternion (  const SRM_Quaternion_Params &  params  )

Constructor using quaternion parameter. Note: q = e0 + e1*i + e2*j + e3*k e0^2 + e1^2 + e2^2 + e3^2 = 1 Exceptions: This  method throws srm::Exception

srm::OrientationQuaternion::OrientationQuaternion (  SRM_Long_Float  e0, SRM_Long_Float  e1, SRM_Long_Float  e2, SRM_Long_Float  e3 )

Constructor using quaternion (e0, e1, e2, e3 ) parameters. Note: q = e0 + e1*i + e2*j + e3*k e0^2 + e1^2 + e2^2 + e3^2 = 1 Parameters: e0  in: the scale (real) parameter e1  in: the vector multiplier in (i) direction e2  in: the vector multiplier in (j) direction e3  in: the vector multiplier in (k) direction Exceptions: This  method throws srm::Exception

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Member Function Documentation

OrientationQuaternion srm::OrientationQuaternion::compose (  const Orientation &  left, const Orientation &  right )  [static]

Composes the right orientation with the left orientation and returns the result in the output orientation, i.e., composed_ori = left*right. Exceptions: This  method throws srm::Exception

virtual void srm::OrientationQuaternion::setQuaternion (  SRM_Long_Float  e0, SRM_Long_Float  e1, SRM_Long_Float  e2, SRM_Long_Float  e3 )  [inline, virtual]

Sets the orientation using quaternion (e0, e1, e2, e3 ) parameters. Note: q = e0 + e1*i + e2*j + e3*k e0^2 + e1^2 + e2^2 + e3^2 = 1 Parameters: e0  in: the scale (real) parameter e1  in: the vector multiplier in (i) direction e2  in: the vector multiplier in (j) direction e3  in: the vector multiplier in (k) direction Exceptions: This  method throws srm::Exception Reimplemented from srm::Orientation. Definition at line 797 of file Orientation.h.

virtual void srm::OrientationQuaternion::setQuaternion (  const SRM_Quaternion_Params &  params  )  [virtual]

Sets the quaternion orientation representation. Note: q = e0 + e1*i + e2*j + e3*k e0^2 + e1^2 + e2^2 + e3^2 = 1 Exceptions: This  method throws srm::Exception Reimplemented from srm::Orientation.

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

• Orientation.h

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