Kindr
Kinematics and Dynamics for Robotics
kindr::QuaternionBase< Derived_ > Class Template Reference

Base class that defines the interface of a quaternion This class defines a generic interface for a quaternion. More...

#include <QuaternionBase.hpp>

Inheritance diagram for kindr::QuaternionBase< Derived_ >:
Inheritance graph

Public Member Functions

Derived_ & invert ()
 inverts the quaternion More...
 
Derived_ inverted () const
 gets the inverse of the quaternion More...
 
Derived_ & conjugate ()
 conjugates the quaternion More...
 
Derived_ conjugated () const
 gets the conjugate of the quaternion More...
 
 operator Derived_ & ()
 gets the derived quaternion (only for advanced users) More...
 
 operator const Derived_ & () const
 gets the derived quaternion (only for advanced users) More...
 
Derived_ & derived ()
 gets the derived quaternion (only for advanced users) More...
 
const Derived_ & derived () const
 gets the derived quaternion (only for advanced users) More...
 
template<typename OtherDerived_ >
Derived_ operator* (const QuaternionBase< OtherDerived_ > &other) const
 multiplies the quaternion with another quaternion More...
 
template<typename OtherDerived_ >
bool operator== (const QuaternionBase< OtherDerived_ > &other) const
 compares the quaternion with another quaternion More...
 

Friends

std::ostream & operator<< (std::ostream &out, const QuaternionBase< Derived_ > &quat)
 prints the coefficients of the quaternion More...
 

Detailed Description

template<typename Derived_>
class kindr::QuaternionBase< Derived_ >

Base class that defines the interface of a quaternion This class defines a generic interface for a quaternion.

Template Parameters
Derived_the derived class that should implement the quaternion
See also
rm::rotations::RotationQuaternionBase for Quaternions that represent a rotation

Definition at line 76 of file QuaternionBase.hpp.

Member Function Documentation

template<typename Derived_>
Derived_& kindr::QuaternionBase< Derived_ >::conjugate ( )

conjugates the quaternion

Returns
the conjugate of the quaternion
template<typename Derived_>
Derived_ kindr::QuaternionBase< Derived_ >::conjugated ( ) const

gets the conjugate of the quaternion

Returns
the conjugate of the quaternion
template<typename Derived_>
Derived_& kindr::QuaternionBase< Derived_ >::derived ( )
inline

gets the derived quaternion (only for advanced users)

Returns
the derived quaternion

Definition at line 117 of file QuaternionBase.hpp.

template<typename Derived_>
const Derived_& kindr::QuaternionBase< Derived_ >::derived ( ) const
inline

gets the derived quaternion (only for advanced users)

Returns
the derived quaternion

Definition at line 124 of file QuaternionBase.hpp.

template<typename Derived_>
Derived_& kindr::QuaternionBase< Derived_ >::invert ( )

inverts the quaternion

Returns
the inverted quaternion
template<typename Derived_>
Derived_ kindr::QuaternionBase< Derived_ >::inverted ( ) const

gets the inverse of the quaternion

Returns
the inverse of the quaternion
template<typename Derived_>
kindr::QuaternionBase< Derived_ >::operator const Derived_ & ( ) const
inline

gets the derived quaternion (only for advanced users)

Returns
the derived quaternion

Definition at line 110 of file QuaternionBase.hpp.

template<typename Derived_>
kindr::QuaternionBase< Derived_ >::operator Derived_ & ( )
inline

gets the derived quaternion (only for advanced users)

Returns
the derived quaternion

Definition at line 102 of file QuaternionBase.hpp.

template<typename Derived_>
template<typename OtherDerived_ >
Derived_ kindr::QuaternionBase< Derived_ >::operator* ( const QuaternionBase< OtherDerived_ > &  other) const
inline

multiplies the quaternion with another quaternion

Returns
the product of two quaternions
Parameters
otherother other quaternion

Definition at line 133 of file QuaternionBase.hpp.

template<typename Derived_>
template<typename OtherDerived_ >
bool kindr::QuaternionBase< Derived_ >::operator== ( const QuaternionBase< OtherDerived_ > &  other) const
inline

compares the quaternion with another quaternion

Parameters
otherother quaternion
Returns
true if the quaternions are equal

Definition at line 147 of file QuaternionBase.hpp.

Friends And Related Function Documentation

template<typename Derived_>
std::ostream& operator<< ( std::ostream &  out,
const QuaternionBase< Derived_ > &  quat 
)
friend

prints the coefficients of the quaternion

Returns
w x y z

Definition at line 154 of file QuaternionBase.hpp.


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