optas.spatialmath.Quaternion Class Reference

Quaternion class. More...

Public Member Functions
def	__init__ (self, ArrayType x, ArrayType y, ArrayType z, ArrayType w)
	Quaternion constructor. More...
Tuple[ArrayType]	split (self)
	Split the quaternion into its xyzw parts. More...
def	__mul__ (self, quat)
	Quaternion multiplication. More...
CasADiArrayType	sumsqr (self)
	Sum the square values of the quaternion elements. More...
def	inv (self)
	Quaternion inverse. More...
CasADiArrayType	getquat (self)
	Return the quaternion vector. More...
CasADiArrayType	getrpy (self)
	Return the quaternion as Roll-Pitch-Yaw angles. More...
CasADiArrayType	getrotm (self)
CasADiArrayType	getrotm (self)

Static Public Member Functions
def	fromrpy (ArrayType rpy)
	Return a quaternion from Roll-Pitch-Yaw angles. More...
def	fromvec (ArrayType q)
	Return a quaternion from a quaternion vector array. More...
def	fromangvec (ArrayType theta, ArrayType v)
	Return a quaternion from angle-vector form. More...

Private Attributes
	_q

Detailed Description

Quaternion class.

Constructor & Destructor Documentation

__init__()

def optas.spatialmath.Quaternion.__init__	(		self,
		ArrayType	x,
		ArrayType	y,
		ArrayType	z,
		ArrayType	w
	)

Quaternion constructor.

   @param x x-value of the quaternion.
   @param y y-value of quaternion.
   @param z z-value of quaternion.
   @param w w-value of quaternion.
   @return An instance of the Quaternion class.

Member Function Documentation

__mul__()

def optas.spatialmath.Quaternion.__mul__	(		self,
			quat
	)

Quaternion multiplication.

   @param quat Another quaternion to multiply.
   @return Quaternion product.

fromangvec()

def optas.spatialmath.Quaternion.fromangvec ( ArrayType  theta, ArrayType  v  )

static

Return a quaternion from angle-vector form.

   @param theta Angle of rotation (radians).
   @param v Direction vector to rotate about.
   @return An instance of the Quaternion class.

fromrpy()

def optas.spatialmath.Quaternion.fromrpy ( ArrayType  rpy )

static

Return a quaternion from Roll-Pitch-Yaw angles.

   @param rpy Roll-Pitch-Yaw angles (radians).
   @return An instance of the Quaternion class.

fromvec()

def optas.spatialmath.Quaternion.fromvec ( ArrayType  q )

static

Return a quaternion from a quaternion vector array.

   @param q Quaternion as an array.
   @return An instance of the Quaternion class.

getquat()

CasADiArrayType optas.spatialmath.Quaternion.getquat

(

self

)

Return the quaternion vector.

   @return The quaternion as an array.

getrotm() [1/2]

CasADiArrayType optas.spatialmath.Quaternion.getrotm

(

self

)

@ return rot matrix

getrotm() [2/2]

CasADiArrayType optas.spatialmath.Quaternion.getrotm

(

self

)

@ return rot matrix

getrpy()

CasADiArrayType optas.spatialmath.Quaternion.getrpy

(

self

)

Return the quaternion as Roll-Pitch-Yaw angles.

   @return The RPY Euler angles (in radians).

inv()

def optas.spatialmath.Quaternion.inv

(

self

)

Quaternion inverse.

   @return Inverse quaternion.

split()

Tuple[ArrayType] optas.spatialmath.Quaternion.split

(

self

)

Split the quaternion into its xyzw parts.

   @return The xyzw parts of the quaternion.

sumsqr()

CasADiArrayType optas.spatialmath.Quaternion.sumsqr

(

self

)

Sum the square values of the quaternion elements.

   @return Result of the sum of square values of the quaternion.

Member Data Documentation

_q

optas.spatialmath.Quaternion._q

private

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

• spatialmath.py