-
Notifications
You must be signed in to change notification settings - Fork 0
/
Quaternion_8h_source.html
165 lines (163 loc) · 19.2 KB
/
Quaternion_8h_source.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.5"/>
<title>isce3: isce/cxx/isce3/core/Quaternion.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
$(document).ready(function() { searchBox.OnSelectItem(0); });
</script>
<script type="text/x-mathjax-config">
MathJax.Hub.Config({
extensions: ["tex2jax.js"],
jax: ["input/TeX","output/HTML-CSS"],
});
</script><script src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/MathJax.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td style="padding-left: 0.5em;">
<div id="projectname">isce3
 <span id="projectnumber">0.1.0</span>
</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.5 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li><a href="annotated.html"><span>Classes</span></a></li>
<li class="current"><a href="files.html"><span>Files</span></a></li>
<li><a href="sphinx/html/index.html"><span>Python classes</span></a></li>
<li><a href="https://github-fn.jpl.nasa.gov/isce-3/isce/issues/"><span>Issue Tracker</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="files.html"><span>File List</span></a></li>
</ul>
</div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(8)"><span class="SelectionMark"> </span>Enumerator</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(9)"><span class="SelectionMark"> </span>Pages</a></div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_404e96cc334514cbeb4d3a6830fc20a4.html">isce</a></li><li class="navelem"><a class="el" href="dir_242328b4dda42afcab822a3a2c9e5d23.html">cxx</a></li><li class="navelem"><a class="el" href="dir_25ad1bde3345b7504bdf331e9ef506fd.html">isce3</a></li><li class="navelem"><a class="el" href="dir_a4747e1a7bb9ad1773f71fc089a1bb9f.html">core</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
<div class="title">Quaternion.h</div> </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">//-*- C++ -*-</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">//-*- coding: utf-8 -*-</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// Author: Bryan V. Riel</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// Copyright 2018</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">//</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor"></span><span class="preprocessor">#define EIGEN_MPL2_ONLY</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor"></span><span class="preprocessor">#include <Eigen/Geometry></span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> </div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "forward.h"</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include "Attitude.h"</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> </div>
<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classisce3_1_1core_1_1Quaternion.html"> 17</a></span> <span class="keyword">class </span><a class="code" href="classisce3_1_1core_1_1Quaternion.html">isce3::core::Quaternion</a> : <span class="keyword">public</span> <a class="code" href="classisce3_1_1core_1_1Attitude.html">isce3::core::Attitude</a> {</div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <a class="code" href="classisce3_1_1core_1_1Quaternion.html#aca41e97e9f5bdf0a9a18e398505879d6">Quaternion</a>();</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <a class="code" href="classisce3_1_1core_1_1Quaternion.html#aca41e97e9f5bdf0a9a18e398505879d6">Quaternion</a>(<span class="keyword">const</span> std::vector<double> & <a class="code" href="classisce3_1_1core_1_1Quaternion.html#af0ac3fb002f06526f09a8ddba46c155c">time</a>, <span class="keyword">const</span> std::vector<double> & quaternions);</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordtype">void</span> <a class="code" href="classisce3_1_1core_1_1Quaternion.html#a0c4e2f0d3d1f83c04626468c6ea41ffc">data</a>(<span class="keyword">const</span> std::vector<double> & time,</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keyword">const</span> std::vector<double> & quaternions);</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordtype">void</span> <a class="code" href="classisce3_1_1core_1_1Quaternion.html#a43ec65cd25934b751444ffa367ff55a5">ypr</a>(<span class="keywordtype">double</span> tintp, <span class="keywordtype">double</span> & yaw, <span class="keywordtype">double</span> & pitch, <span class="keywordtype">double</span> & roll);</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classisce3_1_1core_1_1DenseMatrix.html">cartmat_t</a> <a class="code" href="classisce3_1_1core_1_1Quaternion.html#a40cde4abbf274b169c6c6bad0f4c0e1f">rotmat</a>(<span class="keywordtype">double</span> tintp, <span class="keyword">const</span> std::string, <span class="keywordtype">double</span> dq0 = 0.0, <span class="keywordtype">double</span> dq1 = 0.0,</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordtype">double</span> dq2 = 0.0, <span class="keywordtype">double</span> dq3 = 0.0);</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="classisce3_1_1core_1_1Vector.html">cartesian_t</a> <a class="code" href="classisce3_1_1core_1_1Quaternion.html#a01fdb39406acff8c940ac0d1dc4d8e96">factoredYPR</a>(<span class="keywordtype">double</span> time,</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">const</span> <a class="code" href="classisce3_1_1core_1_1Vector.html">cartesian_t</a> &,</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keyword">const</span> <a class="code" href="classisce3_1_1core_1_1Vector.html">cartesian_t</a> &,</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <a class="code" href="classisce3_1_1core_1_1Ellipsoid.html">Ellipsoid</a> *);</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classisce3_1_1core_1_1Quaternion.html#af0ac3fb002f06526f09a8ddba46c155c"> 51</a></span>  <span class="keyword">inline</span> <span class="keyword">const</span> std::vector<double> & <a class="code" href="classisce3_1_1core_1_1Quaternion.html#af0ac3fb002f06526f09a8ddba46c155c">time</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _time; }</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classisce3_1_1core_1_1Quaternion.html#a55c1b8402c16065d67d4ed74d39b7b69"> 54</a></span>  <span class="keyword">inline</span> <span class="keyword">const</span> std::vector<double> & <a class="code" href="classisce3_1_1core_1_1Quaternion.html#a55c1b8402c16065d67d4ed74d39b7b69">qvec</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _qvec; };</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classisce3_1_1core_1_1Quaternion.html#a6565a49733a449ecb14b4c1f563f9c92"> 57</a></span>  <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="classisce3_1_1core_1_1Quaternion.html#a6565a49733a449ecb14b4c1f563f9c92">nVectors</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _time.size(); }</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="comment">// Private data members</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  std::vector<double> _time;</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  std::vector<double> _qvec;</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  Eigen::Quaternion<double> _interp(<span class="keywordtype">double</span> t) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> };</div>
<div class="ttc" id="classisce3_1_1core_1_1Quaternion_html_a01fdb39406acff8c940ac0d1dc4d8e96"><div class="ttname"><a href="classisce3_1_1core_1_1Quaternion.html#a01fdb39406acff8c940ac0d1dc4d8e96">isce3::core::Quaternion::factoredYPR</a></div><div class="ttdeci">cartesian_t factoredYPR(double time, const cartesian_t &, const cartesian_t &, Ellipsoid *)</div><div class="ttdoc">Return factored Yaw, Pitch, Roll. </div><div class="ttdef"><b>Definition:</b> Quaternion.cpp:119</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Ellipsoid_html"><div class="ttname"><a href="classisce3_1_1core_1_1Ellipsoid.html">isce3::core::Ellipsoid</a></div><div class="ttdoc">Data structure to store Ellipsoid information. </div><div class="ttdef"><b>Definition:</b> Ellipsoid.h:20</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Quaternion_html_a55c1b8402c16065d67d4ed74d39b7b69"><div class="ttname"><a href="classisce3_1_1core_1_1Quaternion.html#a55c1b8402c16065d67d4ed74d39b7b69">isce3::core::Quaternion::qvec</a></div><div class="ttdeci">const std::vector< double > & qvec() const </div><div class="ttdoc">Get the quaternion elements (packed in size N*4 vector) </div><div class="ttdef"><b>Definition:</b> Quaternion.h:54</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Attitude_html"><div class="ttname"><a href="classisce3_1_1core_1_1Attitude.html">isce3::core::Attitude</a></div><div class="ttdoc">Base class for attitude data representation. </div><div class="ttdef"><b>Definition:</b> Attitude.h:18</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Quaternion_html_a40cde4abbf274b169c6c6bad0f4c0e1f"><div class="ttname"><a href="classisce3_1_1core_1_1Quaternion.html#a40cde4abbf274b169c6c6bad0f4c0e1f">isce3::core::Quaternion::rotmat</a></div><div class="ttdeci">cartmat_t rotmat(double tintp, const std::string, double dq0=0.0, double dq1=0.0, double dq2=0.0, double dq3=0.0)</div><div class="ttdoc">Return rotation matrix with optional perturbations. </div><div class="ttdef"><b>Definition:</b> Quaternion.cpp:89</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Quaternion_html_af0ac3fb002f06526f09a8ddba46c155c"><div class="ttname"><a href="classisce3_1_1core_1_1Quaternion.html#af0ac3fb002f06526f09a8ddba46c155c">isce3::core::Quaternion::time</a></div><div class="ttdeci">const std::vector< double > & time() const </div><div class="ttdoc">Return data vector of time. </div><div class="ttdef"><b>Definition:</b> Quaternion.h:51</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Quaternion_html_a0c4e2f0d3d1f83c04626468c6ea41ffc"><div class="ttname"><a href="classisce3_1_1core_1_1Quaternion.html#a0c4e2f0d3d1f83c04626468c6ea41ffc">isce3::core::Quaternion::data</a></div><div class="ttdeci">void data(const std::vector< double > &time, const std::vector< double > &quaternions)</div><div class="ttdoc">Set all quaternion elements from a vector. </div><div class="ttdef"><b>Definition:</b> Quaternion.cpp:156</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Quaternion_html_aca41e97e9f5bdf0a9a18e398505879d6"><div class="ttname"><a href="classisce3_1_1core_1_1Quaternion.html#aca41e97e9f5bdf0a9a18e398505879d6">isce3::core::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion()</div><div class="ttdoc">Default constructor. </div><div class="ttdef"><b>Definition:</b> Quaternion.cpp:26</div></div>
<div class="ttc" id="classisce3_1_1core_1_1DenseMatrix_html"><div class="ttname"><a href="classisce3_1_1core_1_1DenseMatrix.html">isce3::core::DenseMatrix</a></div><div class="ttdef"><b>Definition:</b> DenseMatrix.h:13</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Quaternion_html"><div class="ttname"><a href="classisce3_1_1core_1_1Quaternion.html">isce3::core::Quaternion</a></div><div class="ttdoc">Quaternion representation of attitude information. </div><div class="ttdef"><b>Definition:</b> Quaternion.h:17</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Quaternion_html_a6565a49733a449ecb14b4c1f563f9c92"><div class="ttname"><a href="classisce3_1_1core_1_1Quaternion.html#a6565a49733a449ecb14b4c1f563f9c92">isce3::core::Quaternion::nVectors</a></div><div class="ttdeci">size_t nVectors() const </div><div class="ttdoc">Return number of epochs. </div><div class="ttdef"><b>Definition:</b> Quaternion.h:57</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Vector_html"><div class="ttname"><a href="classisce3_1_1core_1_1Vector.html">isce3::core::Vector< 3 ></a></div></div>
<div class="ttc" id="classisce3_1_1core_1_1Quaternion_html_a43ec65cd25934b751444ffa367ff55a5"><div class="ttname"><a href="classisce3_1_1core_1_1Quaternion.html#a43ec65cd25934b751444ffa367ff55a5">isce3::core::Quaternion::ypr</a></div><div class="ttdeci">void ypr(double tintp, double &yaw, double &pitch, double &roll)</div><div class="ttdoc">Return yaw, pitch, roll. </div><div class="ttdef"><b>Definition:</b> Quaternion.cpp:69</div></div>
</div><!-- fragment --></div><!-- contents -->
<hr>
Generated for ISCE3.0 by
<a href="http://www.doxygen.org/index.html"><img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.8.5.
</body>
</html>