isce3::core::Quaternion Class Reference

Quaternion representation of rotations, based on double precision Eigen::Quaterniond. More...

#include <Quaternion.h>

Inheritance diagram for isce3::core::Quaternion:

Public Member Functions
	Quaternion ()
	Default constructor (qw,qx,qy,qz) = (1,0,0,0) , no rotation, equivalent to 3x3 identity rotation matrix.
	Quaternion (double w, double x, double y, double z)
	Constructor from qw, qx, qy, qz.
	Quaternion (const Eigen::Vector4d &qvec)
	Constructor from Eigen 4-element unit quaternion vector.
	Quaternion (const Eigen::Vector3d &vec)
	Constructor from Eigen 3D unit vector.
	Quaternion (const Eigen::Matrix3d &rotmat)
	Constructor from an Eigen 3D Rotation matrix Throw exception for non-uniary matrix within 1e-6 precision.
	Quaternion (const Eigen::AngleAxisd &aa)
	Constructor from an Eigen AngleAxis object.
	Quaternion (double angle, const Eigen::Vector3d &axis)
	Constructor from an angle and 3-D vector axis.
	Quaternion (double yaw, double pitch, double roll)
	Constructor from Euler Angles yaw, pitch, roll.
	Quaternion (const EulerAngles &ypr)
	Constructor from isce3 EulerAngle Object.
	Quaternion (const Eigen::Quaternion< double > &other)
	Copy constructor from other Quaternion obj.
Eigen::Vector3d	rotate (const Eigen::Vector3d &vec) const
	Rotate a 3-D vector by self quaternion object.
Vec3	toYPR () const
	Convert quaternion to an Eigen vector of Euler angles (yaw, pitch, roll) , all in radians.
EulerAngles	toEulerAngles () const
	Build isce3 EulerAngles Object from Quaternion object.
Eigen::AngleAxisd	toAngleAxis () const
	Convert from Eigen Quaternion to Eigen AngleAxis object.

Detailed Description

Quaternion representation of rotations, based on double precision Eigen::Quaterniond.

Element names correspond to q = w + xi + yj + zk. Uses Hamilton convention, same as SPICE toolikt (https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/qxq_c.html). See https://arxiv.org/pdf/1801.07478.pdf for details of conventions.

Constructor & Destructor Documentation

Quaternion() [1/9]

isce3::core::Quaternion::Quaternion ( double w, double x, double y, double z )

inline

Constructor from qw, qx, qy, qz.

Parameters

[in]	w	: double scalar , real part
[in]	x	: double scalar, imag part along x axis
[in]	y	: double scalar, imag part along y axis
[in]	z	: double scalar, imag part along z axis

Quaternion() [2/9]

isce3::core::Quaternion::Quaternion ( const Eigen::Vector4d & qvec )

inlineexplicit

Constructor from Eigen 4-element unit quaternion vector.

Parameters

[in]

qvec

: quaternion 4-element Eigen vector or isce3 Vec4 representing qw, qx, qy, qz.

Quaternion() [3/9]

isce3::core::Quaternion::Quaternion ( const Eigen::Vector3d & vec )

inlineexplicit

Constructor from Eigen 3D unit vector.

Parameters

[in]

vec

: 3-D . 3-element Eigen vector or isce3 Vec3 representing qx, qy, qz.

Quaternion() [4/9]

isce3::core::Quaternion::Quaternion ( const Eigen::Matrix3d & rotmat )

inline

Constructor from an Eigen 3D Rotation matrix Throw exception for non-uniary matrix within 1e-6 precision.

Parameters

[in]

rotmat

: 3-by-3 rotation Eigen matrix or isce3 Mat3.

Exceptions

InvalidArgument

Quaternion() [5/9]

isce3::core::Quaternion::Quaternion ( const Eigen::AngleAxisd & aa )

inline

Constructor from an Eigen AngleAxis object.

Parameters

[in]

aa

: Eigen AngleAxisd object

Quaternion() [6/9]

isce3::core::Quaternion::Quaternion ( double angle, const Eigen::Vector3d & axis )

inline

Constructor from an angle and 3-D vector axis.

Parameters

[in]	angle	: scalar in radians
[in]	axis	: Eigen 3-D double unit vector

Quaternion() [7/9]

isce3::core::Quaternion::Quaternion ( double yaw, double pitch, double roll )

inline

Constructor from Euler Angles yaw, pitch, roll.

Parameters

[in]	yaw	: scalar in radians
[in]	pitch	: scalar in radians
[in]	roll	: scalar in radians

Quaternion() [8/9]

isce3::core::Quaternion::Quaternion ( const EulerAngles & ypr )

explicit

Constructor from isce3 EulerAngle Object.

Parameters

[in]

ypr

: isce3 EulerAngle object

Quaternion() [9/9]

isce3::core::Quaternion::Quaternion ( const Eigen::Quaternion< double > & other )

inline

Copy constructor from other Quaternion obj.

Parameters

[in]

other

: another Eigen quaternion object

Member Function Documentation

rotate()

Eigen::Vector3d isce3::core::Quaternion::rotate ( const Eigen::Vector3d & vec ) const

inline

Rotate a 3-D vector by self quaternion object.

Parameters

[in]

vec

: Eigen Vector3 or isce3 Vec3

Returns

rotated Eigen Vector3 or isce3 Vec3

toAngleAxis()

Eigen::AngleAxisd isce3::core::Quaternion::toAngleAxis ( ) const

inline

Convert from Eigen Quaternion to Eigen AngleAxis object.

Returns

Eigen AngleAxis object

toEulerAngles()

EulerAngles isce3::core::Quaternion::toEulerAngles

(

)

const

Build isce3 EulerAngles Object from Quaternion object.

Returns

isce3 EulerAngle object

toYPR()

Vec3 isce3::core::Quaternion::toYPR

(

)

const

Convert quaternion to an Eigen vector of Euler angles (yaw, pitch, roll) , all in radians.

Returns

Eigen:Vector3 or isce3 Vec3 of Yaw,Pitch,Roll angles all in radians.

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

• /home/runner/work/isce3/isce3/cxx/isce3/core/Quaternion.h
• /home/runner/work/isce3/isce3/cxx/isce3/core/Quaternion.cpp