Isis::Quaternion Class Reference

Provide operations for quaternion arithmetic. More...

#include <Quaternion.h>

Collaboration diagram for Isis::Quaternion:

Public Member Functions
	Quaternion ()
	Constructs an empty quaternion. More...
	Quaternion (const std::vector< double > matrix)
	Construct a Quaternion class from a matrix stored as a vector < double > with 9 elements or from a quaternion stored as a vector < double > with 4 elements. More...
	~Quaternion ()
	Destroys the Quaternion object. More...
std::vector< double >	ToMatrix ()
	Converts quaternion to 3x3 rotational matrix. More...
std::vector< double >	ToAngles (int axis3, int axis2, int axis1)
	Return the camera angles (right ascension, declination, and twist) for the quaternion. More...
void	Set (std::vector< double >)
	Sets the quaternion value. More...
std::vector< double >	GetQuaternion () const
	Return the quaternion as a vector. More...
Quaternion &	operator= (const Quaternion &quat)
	Assign value of quaternion class to another quaternion. More...
Quaternion &	operator*= (const Quaternion &quat)
	Multiply current Naif quaternion by another Naif quaternion, replacing the current quaternion. More...
Quaternion	operator* (const Quaternion &quat) const
	Multiply two Naif quaternions to create a new quaternion. More...
Quaternion	operator* (const double &scalar)
	Multiply a quaternion by a scalar. More...
double &	operator[] (int index)
	Return a member of a quaternion. More...
std::vector< double >	Qxv (const std::vector< double > &vin)
	Multiply a vector by a quaternion (rotate the vector) More...
Quaternion	Conjugate ()
	Returns the conjugate of the quaternion. More...

Detailed Description

Provide operations for quaternion arithmetic.

This class provides a wrapper for existing Naif quaternion functions and also includes other operators and methods useful for working with quaternions.

Author

2005-12-07 Debbie A. Cook

Constructor & Destructor Documentation

Quaternion() [1/2]

Isis::Quaternion::Quaternion

(

)

Constructs an empty quaternion.

Quaternion() [2/2]

Isis::Quaternion::Quaternion

(

const std::vector< double >

rotation

)

Construct a Quaternion class from a matrix stored as a vector < double > with 9 elements or from a quaternion stored as a vector < double > with 4 elements.

Parameters

rotation

rotation defined as either a matrix or another quaternion loaded as a vector

References Set().

~Quaternion()

Isis::Quaternion::~Quaternion

(

)

Destroys the Quaternion object.

Member Function Documentation

Conjugate()

Quaternion Isis::Quaternion::Conjugate

(

)

Returns the conjugate of the quaternion.

Referenced by Qxv().

GetQuaternion()

std::vector<double> Isis::Quaternion::GetQuaternion ( ) const

inline

Return the quaternion as a vector.

operator*() [1/2]

Quaternion Isis::Quaternion::operator*

(

const double &

scalar

)

Multiply a quaternion by a scalar.

Just multiply the rotation part and polish the resulting quaternion so it is still a unit quaternion with positive rotation. For example,

Quaternion q1(),q(2);
double scalar
...
q2() = scalar*q2;

Parameters

[in]

scalar

(const double &) scalar value to be multiplied times the current quaternion

Returns

(Quaternion) product of scalar and quaternion

References _FILEINFO_, and Isis::IException::Programmer.

operator*() [2/2]

Quaternion Isis::Quaternion::operator*

(

const Quaternion &

quat

)

const

Multiply two Naif quaternions to create a new quaternion.

For example,

Quaternion q1(),q(2);
...
Quaternion q3() = q1*q2;

More information is available on quaternions and the multiplication algorithm in the Naif routine qxq_c.c

Parameters

[in]

quat

(const Quaternion &) quaternion to multiply on the right

Returns

(Quaternion) product of quaternions

operator*=()

Quaternion & Isis::Quaternion::operator*=

(

const Quaternion &

quat

)

Multiply current Naif quaternion by another Naif quaternion, replacing the current quaternion.

For example,

Quaternion q1(),q(2);
...
Quaternion q2() *= q1;

More information on quaternions and the multiplication algorithm is available in the Naif routine qxq_c.

Parameters

[in]

quat

(const Quaternion &) quaternion to multiply on the right

Returns

(Quaternion) product of quaternions

operator=()

Quaternion & Isis::Quaternion::operator=

(

const Quaternion &

quat

)

Assign value of quaternion class to another quaternion.

For example,

Quaternion q1( matrix );
Quaternion q2();
...
q2 = q1;

Parameters

quat	The Quaternion to copy

operator[]()

double& Isis::Quaternion::operator[] ( int  index )

inline

Return a member of a quaternion.

For example,

 Quaternion q();
...
 double angle = q[0];

Parameters

[in]

index

(const int &) quaternion member to return

Returns

(double&) value pointed to by iter

Qxv()

std::vector< double > Isis::Quaternion::Qxv

(

const std::vector< double > &

vin

)

Multiply a vector by a quaternion (rotate the vector)

Parameters

[in]

vin

(const std::vector<double>(3)) Vector to be multiplied (rotated)

References _FILEINFO_, Conjugate(), and Isis::IException::Programmer.

Set()

void Isis::Quaternion::Set

(

std::vector< double >

rotation

)

Sets the quaternion value.

Parameters

rotation

rotation defined as either a matrix or a set of 3 angles

References _FILEINFO_, Isis::NaifStatus::CheckErrors(), and Isis::IException::Programmer.

Referenced by Quaternion().

ToAngles()

std::vector< double > Isis::Quaternion::ToAngles	(	int	axis3,
		int	axis2,
		int	axis1
	)

Return the camera angles (right ascension, declination, and twist) for the quaternion.

References Isis::NaifStatus::CheckErrors(), and ToMatrix().

ToMatrix()

std::vector< double > Isis::Quaternion::ToMatrix

(

)

Converts quaternion to 3x3 rotational matrix.

Referenced by Isis::SpiceRotation::LoadCache(), and ToAngles().

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

• /home/isis3mgr/repos/ISIS3/isis/src/base/objs/Quaternion/Quaternion.h
• /home/isis3mgr/repos/ISIS3/isis/src/base/objs/Quaternion/Quaternion.cpp