API — ICoreBlocks/ICoreMath/Geometry

The public contract of 1 header(s) under src/ICoreBlocks/ICoreMath/Geometry — 1 class/struct definition(s), 10 declaration(s). Each section shows the header's banner and its public (and protected-virtual) surface exactly as the file writes it.

ICoreQuaternion.h#

src/ICoreBlocks/ICoreMath/Geometry/ICoreQuaternion.h

ICoreQuaternion#

ICoreQuaternion.h:9 · class · 10 declaration(s)

Rotation representation, backed by Eigen::Quaterniond / Eigen::AngleAxisd.

class ICoreQuaternion {
public:
    // axis: 3x1 vector (need not be unit length); angle in radians.
    // Returns a 4x1 quaternion [w,x,y,z].
    static ICoreMatrix fromAxisAngle(const ICoreMatrix& axis, const double& angle);

    // a,b,c: Euler angles in radians, applied about axis0 then axis1 then axis2
    // (axis index: 0=x, 1=y, 2=z), matching Eigen's eulerAngles() convention.
    // E.g. axis0=2,axis1=1,axis2=0 is the aerospace ZYX yaw-pitch-roll order.
    // Returns a 4x1 quaternion [w,x,y,z].
    static ICoreMatrix fromEuler(const double& a, const double& b, const double& c,
                                 const size_t& axis0, const size_t& axis1, const size_t& axis2);

    // R: 3x3 rotation matrix. Returns a 4x1 quaternion [w,x,y,z].
    static ICoreMatrix fromRotationMatrix(const ICoreMatrix& R);

    // q: 4x1 [w,x,y,z]. Returns a 3x3 rotation matrix.
    static ICoreMatrix toRotationMatrix(const ICoreMatrix& q);

    // q: 4x1 [w,x,y,z]. Returns a 3x1 vector of Euler angles about axis0,axis1,axis2.
    static ICoreMatrix toEuler(const ICoreMatrix& q, const size_t& axis0, const size_t& axis1, const size_t& axis2);

    // Hamilton product q1*q2: applying the result to a vector rotates by q2 first,
    // then by q1 (i.e. composes "q1 after q2").
    static ICoreMatrix multiply(const ICoreMatrix& q1, const ICoreMatrix& q2);
    static ICoreMatrix conjugate(const ICoreMatrix& q);
    static ICoreMatrix inverse(const ICoreMatrix& q);
    static ICoreMatrix normalize(const ICoreMatrix& q);

    // Spherical linear interpolation between q1 and q2, t in [0,1].
    static ICoreMatrix slerp(const ICoreMatrix& q1, const ICoreMatrix& q2, const double& t);

    // Rotate a 3x1 vector v by quaternion q.
    static ICoreMatrix rotateVector(const ICoreMatrix& q, const ICoreMatrix& v);

};
};