frcsim::Quaternion Struct Reference

Unit-quaternion rotation representation and rotation algebra helpers. More...

#include <quaternion.hpp>

Public Member Functions
constexpr	Quaternion () noexcept
constexpr	Quaternion (double w_, double x_, double y_, double z_) noexcept
constexpr	Quaternion (double w_, const Vector3 &v) noexcept
constexpr double	norm2 () const noexcept
double	norm () const noexcept
bool	isIdentity (double eps=1e-12) const noexcept
bool	hasNaN () const noexcept
Quaternion	normalized () const noexcept
void	normalizeIfNeeded (double eps=1e-12) noexcept
void	toAxisAngle (Vector3 &axis, double &angleRad) const noexcept
void	toMatrix (double m[3][3]) const noexcept
void	normalize () noexcept
constexpr Quaternion	conjugate () const noexcept
Quaternion	inverse () const noexcept
constexpr Quaternion	operator* (const Quaternion &rhs) const noexcept
constexpr Quaternion	operator* (double scalar) const noexcept
Vector3	rotate (const Vector3 &v) const noexcept
Vector3	forward () const noexcept
Vector3	up () const noexcept
Vector3	right () const noexcept
constexpr Quaternion	operator+ (const Quaternion &rhs) const noexcept
constexpr Quaternion	operator- () const noexcept
constexpr bool	operator== (const Quaternion &rhs) const noexcept
constexpr bool	operator!= (const Quaternion &rhs) const noexcept

Static Public Member Functions
static Quaternion	fromAxisAngle (const Vector3 &axis, double angleRad) noexcept
static Quaternion	fromAngularVelocity (const Vector3 &omega, double dt) noexcept
static Quaternion	slerp (const Quaternion &a, const Quaternion &b, double t) noexcept

Public Attributes
double	w
double	x
double	y
double	z

Friends
constexpr Quaternion	operator* (double scalar, const Quaternion &q) noexcept
std::ostream &	operator<< (std::ostream &os, const Quaternion &q)

Detailed Description

Unit-quaternion rotation representation and rotation algebra helpers.

Physics principle: quaternion rotational kinematics avoids gimbal lock and provides stable composition/integration of 3D orientation. Vectors are rotated with q v q^-1 and orientation updates use angular velocity via quaternion derivatives.

References: https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation https://en.wikipedia.org/wiki/Gimbal_lock

Constructor & Destructor Documentation

Quaternion() [1/3]

frcsim::Quaternion::Quaternion ( )

inlineconstexprnoexcept

Quaternion() [2/3]

frcsim::Quaternion::Quaternion ( double w_, double x_, double y_, double z_ )

inlineconstexprnoexcept

Quaternion() [3/3]

frcsim::Quaternion::Quaternion ( double w_, const Vector3 & v )

inlineconstexprnoexcept

Member Function Documentation

conjugate()

Quaternion frcsim::Quaternion::conjugate ( ) const

inlinenodiscardconstexprnoexcept

forward()

Vector3 frcsim::Quaternion::forward ( ) const

inlinenodiscardnoexcept

fromAngularVelocity()

Quaternion frcsim::Quaternion::fromAngularVelocity ( const Vector3 & omega, double dt )

inlinestaticnoexcept

fromAxisAngle()

Quaternion frcsim::Quaternion::fromAxisAngle ( const Vector3 & axis, double angleRad )

inlinestaticnoexcept

hasNaN()

bool frcsim::Quaternion::hasNaN ( ) const

inlinenodiscardnoexcept

inverse()

Quaternion frcsim::Quaternion::inverse ( ) const

inlinenodiscardnoexcept

isIdentity()

bool frcsim::Quaternion::isIdentity ( double eps = 1e-12 ) const

inlinenodiscardnoexcept

norm()

double frcsim::Quaternion::norm ( ) const

inlinenodiscardnoexcept

norm2()

double frcsim::Quaternion::norm2 ( ) const

inlinenodiscardconstexprnoexcept

normalize()

void frcsim::Quaternion::normalize ( )

inlinenoexcept

normalized()

Quaternion frcsim::Quaternion::normalized ( ) const

inlinenodiscardnoexcept

normalizeIfNeeded()

void frcsim::Quaternion::normalizeIfNeeded ( double eps = 1e-12 )

inlinenoexcept

operator!=()

bool frcsim::Quaternion::operator!= ( const Quaternion & rhs ) const

inlinenodiscardconstexprnoexcept

operator*() [1/2]

Quaternion frcsim::Quaternion::operator* ( const Quaternion & rhs ) const

inlinenodiscardconstexprnoexcept

operator*() [2/2]

Quaternion frcsim::Quaternion::operator* ( double scalar ) const

inlinenodiscardconstexprnoexcept

operator+()

Quaternion frcsim::Quaternion::operator+ ( const Quaternion & rhs ) const

inlinenodiscardconstexprnoexcept

operator-()

Quaternion frcsim::Quaternion::operator- ( ) const

inlinenodiscardconstexprnoexcept

operator==()

bool frcsim::Quaternion::operator== ( const Quaternion & rhs ) const

inlinenodiscardconstexprnoexcept

right()

Vector3 frcsim::Quaternion::right ( ) const

inlinenodiscardnoexcept

rotate()

Vector3 frcsim::Quaternion::rotate ( const Vector3 & v ) const

inlinenodiscardnoexcept

slerp()

Quaternion frcsim::Quaternion::slerp ( const Quaternion & a, const Quaternion & b, double t )

inlinestaticnoexcept

toAxisAngle()

void frcsim::Quaternion::toAxisAngle ( Vector3 & axis, double & angleRad ) const

inlinenoexcept

toMatrix()

void frcsim::Quaternion::toMatrix ( double m[3][3] ) const

inlinenoexcept

up()

Vector3 frcsim::Quaternion::up ( ) const

inlinenodiscardnoexcept

Friends And Related Symbol Documentation

operator*

Quaternion operator* ( double scalar, const Quaternion & q )

friend

operator<<

std::ostream & operator<< ( std::ostream & os, const Quaternion & q )

friend

Member Data Documentation

w

double frcsim::Quaternion::w

x

double frcsim::Quaternion::x

y

double frcsim::Quaternion::y

z

double frcsim::Quaternion::z

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

• src/main/driver/include/frcsim/math/quaternion.hpp