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

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

#include <QuaternionBase.hpp>

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

Public Types

typedef QuaternionBase< Derived_ > Base
 

Public Member Functions

Derived_ inverted () const
 gets the inverse of the unit quaternion using the conjugate More...
 
Derived_ & invert ()
 inverts the unit quaternion using the conjugate More...
 
Derived_ conjugated () const
 gets the conjugate of the quaternion More...
 
Derived_ & conjugate ()
 conjugates the unit quaternion More...
 
template<typename OtherDerived_ >
Derived_ operator* (const UnitQuaternionBase< OtherDerived_ > &other) const
 multiplies the unit quaternion with another unit quaternion More...
 
template<typename OtherDerived_ >
OtherDerived_ operator* (const QuaternionBase< OtherDerived_ > &other) const
 multiplies the unit quaternion with a quaternion More...
 
- Public Member Functions inherited from kindr::QuaternionBase< Derived_ >
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...
 

Detailed Description

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

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

See also
rm::rotations::RotationQuaternionBase for Quaternions that represent a rotation

Definition at line 169 of file QuaternionBase.hpp.

Member Typedef Documentation

template<typename Derived_>
typedef QuaternionBase<Derived_> kindr::UnitQuaternionBase< Derived_ >::Base

Definition at line 171 of file QuaternionBase.hpp.

Member Function Documentation

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

conjugates the unit quaternion

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

gets the conjugate of the quaternion

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

inverts the unit quaternion using the conjugate

Returns
the inverted unit quaternion

Definition at line 183 of file QuaternionBase.hpp.

template<typename Derived_>
Derived_ kindr::UnitQuaternionBase< Derived_ >::inverted ( ) const
inline

gets the inverse of the unit quaternion using the conjugate

Returns
the inverse of the unit quaternion

Definition at line 176 of file QuaternionBase.hpp.

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

multiplies the unit quaternion with another unit quaternion

Returns
the product of two unit quaternions
Parameters
otherother unit quaternion

Definition at line 201 of file QuaternionBase.hpp.

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

multiplies the unit quaternion with a quaternion

Returns
the product of two quaternions
Parameters
otherother quaternion

Definition at line 210 of file QuaternionBase.hpp.


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