xrt_quat Struct Reference

A quaternion with single floats. More...

#include <xrt/xrt_defines.h>

Collaboration diagram for xrt_quat:

Data Fields
float	x
float	y
float	z
float	w

Related Functions
(Note that these are not member functions.)
void	math_quat_from_angle_vector (float angle_rads, const struct xrt_vec3 *vector, struct xrt_quat *result)
	Create a rotation from an angle in radians and a unit vector. More...
void	math_quat_from_euler_angles (const struct xrt_vec3 *angles, struct xrt_quat *result)
	Create a rotation from euler angles to a quaternion. More...
void	math_quat_from_matrix_3x3 (const struct xrt_matrix_3x3 *mat, struct xrt_quat *result)
	Create a rotation from a 3x3 rotation (row major) matrix. More...
void	math_quat_from_plus_x_z (const struct xrt_vec3 *plus_x, const struct xrt_vec3 *plus_z, struct xrt_quat *result)
	Create a rotation from two vectors plus x and z, by creating a rotation matrix by crossing z and x to get the y axis. More...
bool	math_quat_validate (const struct xrt_quat *quat)
	Check if this quat can be used in transformation operations. More...
bool	math_quat_validate_within_1_percent (const struct xrt_quat *quat)
	Check if this quat is within 1% of unit length. More...
void	math_quat_invert (const struct xrt_quat *quat, struct xrt_quat *out_quat)
	Invert a quaternion. More...
float	math_quat_len (const struct xrt_quat *quat)
	The euclidean norm or length of a quaternion. More...
void	math_quat_normalize (struct xrt_quat *inout)
	Normalize a quaternion. More...
bool	math_quat_ensure_normalized (struct xrt_quat *inout)
	Normalizes a quaternion if it has accumulated float precision errors. More...
void	math_quat_rotate_vec3 (const struct xrt_quat *left, const struct xrt_vec3 *right, struct xrt_vec3 *result)
	Rotate a vector. More...
void	math_quat_rotate (const struct xrt_quat *left, const struct xrt_quat *right, struct xrt_quat *result)
	Rotate a quaternion (compose rotations). More...
void	math_quat_unrotate (const struct xrt_quat *left, const struct xrt_quat *right, struct xrt_quat *result)
	Inverse of math_quat_rotate. More...
void	math_quat_integrate_velocity (const struct xrt_quat *quat, const struct xrt_vec3 *ang_vel, float dt, struct xrt_quat *result)
	Integrate a local angular velocity vector (exponential map) and apply to a quaternion. More...
void	math_quat_finite_difference (const struct xrt_quat *quat0, const struct xrt_quat *quat1, float dt, struct xrt_vec3 *out_ang_vel)
	Compute a global angular velocity vector (exponential map format) by taking the finite difference of two quaternions. More...
void	math_quat_exp (const struct xrt_vec3 *axis_angle, struct xrt_quat *out_quat)
	Takes a rotation vector equal to half of a Rodrigues rotation vector and returns its corresponding unit quaternion. More...
void	math_quat_ln (const struct xrt_quat *quat, struct xrt_vec3 *out_axis_angle)
	Takes a unit quaternion and returns a rotation vector equal to half of its corresponding Rodrigues rotation vector. More...
void	math_quat_rotate_derivative (const struct xrt_quat *quat, const struct xrt_vec3 *deriv, struct xrt_vec3 *result)
	Used to rotate a derivative like a angular velocity. More...
void	math_quat_slerp (const struct xrt_quat *left, const struct xrt_quat *right, float t, struct xrt_quat *result)
	Slerp (spherical linear interpolation) between two quaternions. More...
void	math_quat_from_swing (const struct xrt_vec2 *swing, struct xrt_quat *result)
	Converts a 2D vector to a quaternion. More...
void	math_quat_from_swing_twist (const struct xrt_vec2 *swing, const float twist, struct xrt_quat *result)
	Converts a 2D vector and a float to a quaternion. More...
void	math_quat_to_swing_twist (const struct xrt_quat *in, struct xrt_vec2 *out_swing, float *out_twist)
	Converts a quaternion to XY-swing and Z-twist. More...
#define	XRT_QUAT_IDENTITY
	Identity value for xrt_quat. More...

Detailed Description

A quaternion with single floats.

Friends And Related Function Documentation

XRT_QUAT_IDENTITY

#define XRT_QUAT_IDENTITY

related

Value:

        {                                                                                                              \
                0.f, 0.f, 0.f, 1.f                                                                                     \
        }

Identity value for xrt_quat.

Referenced by m_filter_euro_quat::m_filter_euro_quat_run(), and simulated_open_system_impl().

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

• xrt/xrt_defines.h
• auxiliary/math/m_api.h
• auxiliary/math/m_base.cpp