KudanQuaternion Class Reference

#include <KudanCV.h>

Public Member Functions
	KudanQuaternion ()
	KudanQuaternion (float x, float y, float z, float w)
void	zero ()
KudanMatrix3	toRotation ()
std::string	toString ()
float	norm ()
void	normalise ()

Static Public Member Functions
static KudanMatrix3	quaternionToRotation (KudanQuaternion &q)

Data Fields
float	x
float	y
float	z
float	w

Detailed Description

Simple representation of a quaternion representing a rotation.

Constructor & Destructor Documentation

KudanQuaternion

(

)

Default constructor initialises the data to the zero quaternion (0,0,0,0)'

KudanQuaternion	(	float	x,
		float	y,
		float	z,
		float	w
	)

Constructor for initialising the data to the given quaternion. Careful of the order: x, y, z, w

Parameters

x,y,z,w

Coefficients of the quaternion

Member Function Documentation

float norm

(

)

Get the norm of this Quaternion (should usually be 1). This is the Euclidean/L2 norm of the 4-vector representing the quaternion

void normalise

(

)

Normalises this quaternion (so it is a 4-vector with Euclidean/L2 norm 1)

static KudanMatrix3 quaternionToRotation ( KudanQuaternion &  q )

static

A function to convert from a quaternion to a rotation matrix

Parameters

q	The input quaternion

Returns

a KudanMatrix3 rotation matrix

KudanMatrix3 toRotation

(

)

Turns this quaternion into a rotation matrix

Returns

a KudanMatrix3 rotation matrix representing the same rotation as this

std::string toString

(

)

Returns a representation of this as a string (x,y,z;w)

Returns

A string representation of this quaternion

void zero

(

)

Set the all coefficients to zero

Field Documentation

float x

Public x, y, z, w coefficients of the quaternion

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

• KudanCV.h