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_to_euler_angles (const struct xrt_quat *quat, struct xrt_vec3 *euler_angles) |
| Create a rotation from a quaternion to euler angles. 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... | |
| void | math_quat_from_vec_a_to_vec_b (const struct xrt_vec3 *vec_a, const struct xrt_vec3 *vec_b, struct xrt_quat *result) |
| Create a rotation from two vectors vec_a and vec_b that would rotate vec_a into vec_b. 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... | |
| static float | math_quat_dot (const struct xrt_quat *l, const struct xrt_quat *r) |
| The dot product of 2 quaternions. 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... | |
| void | math_quat_decompose_swing_twist (const struct xrt_quat *in, const struct xrt_vec3 *twist_axis, struct xrt_quat *swing, struct xrt_quat *twist) |
| Decompose a quaternion to swing and twist component rotations around a target axis. 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
|
related |
Value:
{ \
0.f, 0.f, 0.f, 1.f \
}
Identity value for xrt_quat.
Referenced by xrt::auxiliary::tracking::slam::gt2xr_pose(), m_filter_euro_quat::m_filter_euro_quat_run(), simulated_open_system_impl(), and xrt::auxiliary::tracking::slam::xr2gt_pose().
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
