frc::Quaternion Class Reference

#include <frc/geometry/Quaternion.h>

Public Member Functions
	Quaternion ()=default
	Constructs a quaternion with a default angle of 0 degrees. More...
	Quaternion (double w, double x, double y, double z)
	Constructs a quaternion with the given components. More...
Quaternion	operator* (const Quaternion &other) const
	Multiply with another quaternion. More...
bool	operator== (const Quaternion &other) const
	Checks equality between this Quaternion and another object. More...
Quaternion	Inverse () const
	Returns the inverse of the quaternion. More...
Quaternion	Normalize () const
	Normalizes the quaternion. More...
double	W () const
	Returns W component of the quaternion. More...
double	X () const
	Returns X component of the quaternion. More...
double	Y () const
	Returns Y component of the quaternion. More...
double	Z () const
	Returns Z component of the quaternion. More...
Eigen::Vector3d	ToRotationVector () const
	Returns the rotation vector representation of this quaternion. More...

Constructor & Destructor Documentation

Quaternion() [1/2]

frc::Quaternion::Quaternion ( )

default

Constructs a quaternion with a default angle of 0 degrees.

Quaternion() [2/2]

frc::Quaternion::Quaternion	(	double	w,
		double	x,
		double	y,
		double	z
	)

Constructs a quaternion with the given components.

Parameters

w	W component of the quaternion.
x	X component of the quaternion.
y	Y component of the quaternion.
z	Z component of the quaternion.

Member Function Documentation

Inverse()

Quaternion frc::Quaternion::Inverse

(

)

const

Returns the inverse of the quaternion.

Normalize()

Quaternion frc::Quaternion::Normalize

(

)

const

Normalizes the quaternion.

operator*()

Quaternion frc::Quaternion::operator*

(

const Quaternion &

other

)

const

Multiply with another quaternion.

Parameters

other

The other quaternion.

operator==()

bool frc::Quaternion::operator==

(

const Quaternion &

other

)

const

Checks equality between this Quaternion and another object.

Parameters

other

The other object.

Returns

Whether the two objects are equal.

ToRotationVector()

Eigen::Vector3d frc::Quaternion::ToRotationVector

(

)

const

Returns the rotation vector representation of this quaternion.

This is also the log operator of SO(3).

W()

double frc::Quaternion::W

(

)

const

Returns W component of the quaternion.

X()

double frc::Quaternion::X

(

)

const

Returns X component of the quaternion.

Y()

double frc::Quaternion::Y

(

)

const

Returns Y component of the quaternion.

Z()

double frc::Quaternion::Z

(

)

const

Returns Z component of the quaternion.

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

• frc/geometry/Quaternion.h