Quaternion representation of attitude information. More...

#include <Quaternion.h>

Inheritance diagram for isce3::core::Quaternion:

Public Member Functions
	Quaternion ()
	Default constructor.

	Quaternion (const std::vector< double > &time, const std::vector< double > &quaternions)
	Constructor using vectors of time and quaternions. More...

void	data (const std::vector< double > &time, const std::vector< double > &quaternions)
	Set all quaternion elements from a vector. More...

void	ypr (double tintp, double &yaw, double &pitch, double &roll)
	Return yaw, pitch, roll. More...

cartmat_t	rotmat (double tintp, const std::string, double dq0=0.0, double dq1=0.0, double dq2=0.0, double dq3=0.0)
	Return rotation matrix with optional perturbations.

cartesian_t	factoredYPR (double time, const cartesian_t &, const cartesian_t &, Ellipsoid *)
	Return factored Yaw, Pitch, Roll.

const std::vector< double > &	time () const
	Return data vector of time.

const std::vector< double > &	qvec () const
	Get the quaternion elements (packed in size N*4 vector)

size_t	nVectors () const
	Return number of epochs.

Public Member Functions inherited from isce3::core::Attitude
	Attitude (Attitude::Type atype)
	Constructor using time attitude representation type.

virtual	~Attitude ()
	Virtual destructor.

Attitude::Type	attitudeType () const
	Return type of attitude representation - quaternion or euler angle.

std::string	yawOrientation () const
	Return yaw orientation - central or normal.

void	yawOrientation (const std::string)
	Set yaw orientation - central or normal.

Additional Inherited Members
Public Types inherited from isce3::core::Attitude
enum	Type { EulerAngles_t, Quaternion_t }

Detailed Description

Quaternion representation of attitude information.

Constructor & Destructor Documentation

isce3::core::Quaternion::Quaternion	(	const std::vector< double > &	time,
		const std::vector< double > &	quaternions
	)

Constructor using vectors of time and quaternions.

Parameters

[in]	time	Time tags, seconds since some epoch. Must be strictly increasing.
[in]	quaternions	Unit quaternions representing antenna to XYZ rotation. Packed in size N*4 vector with each quaternion contiguous.

void isce3::core::Quaternion::data	(	const std::vector< double > &	time,
		const std::vector< double > &	quaternions
	)

Set all quaternion elements from a vector.

Parameters

[in]	time	Vector of seconds since epoch, strictly increasing.
[in]	quaternions	Flattened vector of quaternions per time epoch

void isce3::core::Quaternion::ypr	(	double	tintp,
		double &	yaw,
		double &	pitch,
		double &	roll
	)

virtual

Return yaw, pitch, roll.

Parameters

[in]	tintp	Seconds since reference epoch
[out]	oyaw	Interpolated yaw angle
[out]	opitch	Interpolated pitch angle
[out]	oroll	Interpolated roll angle

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