Quaternion Class Reference

#include <quaternion.h>

Public Member Functions
	Quaternion ()
	Quaternion (const float _q1, const float _q2, const float _q3, const float _q4)
	Quaternion (const float _q[4])
void	operator() (const float _q1, const float _q2, const float _q3, const float _q4)
bool	is_nan (void) const
void	rotation_matrix (Matrix3f &m) const
void	rotation_matrix_norm (Matrix3f &m) const
void	from_rotation_matrix (const Matrix3f &m)
void	earth_to_body (Vector3f &v) const
void	from_euler (float roll, float pitch, float yaw)
void	from_vector312 (float roll, float pitch, float yaw)
void	to_axis_angle (Vector3f &v)
void	from_axis_angle (Vector3f v)
void	from_axis_angle (const Vector3f &axis, float theta)
void	rotate (const Vector3f &v)
void	from_axis_angle_fast (Vector3f v)
void	from_axis_angle_fast (const Vector3f &axis, float theta)
void	rotate_fast (const Vector3f &v)
float	get_euler_roll () const
float	get_euler_pitch () const
float	get_euler_yaw () const
void	to_euler (float &roll, float &pitch, float &yaw) const
Vector3f	to_vector312 (void) const
float	length (void) const
void	normalize ()
void	initialise ()
Quaternion	inverse (void) const
float &	operator[] (uint8_t i)
const float &	operator[] (uint8_t i) const
Quaternion	operator* (const Quaternion &v) const
Quaternion &	operator*= (const Quaternion &v)
Quaternion	operator/ (const Quaternion &v) const

Public Attributes
float	q1
float	q2
float	q3
float	q4

Detailed Description

Definition at line 25 of file quaternion.h.

Constructor & Destructor Documentation

Quaternion() [1/3]

Quaternion::Quaternion ( )

inline

Definition at line 31 of file quaternion.h.

Referenced by inverse().

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Quaternion() [2/3]

Quaternion::Quaternion ( const float  _q1, const float  _q2, const float  _q3, const float  _q4  )

inline

Definition at line 38 of file quaternion.h.

Quaternion() [3/3]

Quaternion::Quaternion ( const float  _q[4] )

inline

Definition at line 44 of file quaternion.h.

Member Function Documentation

earth_to_body()

void Quaternion::earth_to_body

(

Vector3f &

v

)

const

Definition at line 122 of file quaternion.cpp.

Referenced by is_nan(), and test_frame_transforms().

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from_axis_angle() [1/2]

void Quaternion::from_axis_angle

(

Vector3f

v

)

Definition at line 154 of file quaternion.cpp.

Referenced by AC_AttitudeControl::attitude_controller_run_quat(), NavEKF2_core::calcOutputStates(), NavEKF3_core::calcOutputStates(), AC_AttitudeControl::input_angle_step_bf_roll_pitch_yaw(), AC_AttitudeControl::input_rate_bf_roll_pitch_yaw(), AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_3(), is_nan(), rotate(), AC_AttitudeControl::shift_ef_yaw_target(), and AC_AttitudeControl::thrust_heading_rotation_angles().

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from_axis_angle() [2/2]

void Quaternion::from_axis_angle	(	const Vector3f &	axis,
		float	theta
	)

Definition at line 166 of file quaternion.cpp.

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from_axis_angle_fast() [1/2]

void Quaternion::from_axis_angle_fast

(

Vector3f

v

)

Definition at line 199 of file quaternion.cpp.

Referenced by is_nan().

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from_axis_angle_fast() [2/2]

void Quaternion::from_axis_angle_fast	(	const Vector3f &	axis,
		float	theta
	)

Definition at line 211 of file quaternion.cpp.

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from_euler()

void Quaternion::from_euler	(	float	roll,
		float	pitch,
		float	yaw
	)

Definition at line 130 of file quaternion.cpp.

Referenced by SITL::Calibration::_attitude_set(), NavEKF2_core::calcQuatAndFieldStates(), NavEKF3_core::calcQuatAndFieldStates(), NavEKF2_core::controlMagYawReset(), GCS_MAVLINK::handle_common_vision_position_estimate_data(), NavEKF2_core::InitialiseFilterBootstrap(), NavEKF3_core::InitialiseFilterBootstrap(), AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw(), AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(), AC_AttitudeControl::input_euler_rate_roll_pitch_yaw(), is_nan(), NavEKF2_core::realignYawGPS(), NavEKF3_core::realignYawGPS(), test_conversion(), test_frame_transforms(), and test_quaternion().

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from_rotation_matrix()

void Quaternion::from_rotation_matrix

(

const Matrix3f &

m

)

Definition at line 76 of file quaternion.cpp.

Referenced by SITL::Calibration::_attitude_set(), AC_AttitudeControl::attitude_controller_run_quat(), SITL::Aircraft::fill_fdm(), from_vector312(), SITL::Aircraft::get_attitude(), AP_AHRS_NavEKF::get_secondary_quaternion(), AC_AttitudeControl::inertial_frame_reset(), AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_2(), AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_3(), is_nan(), AC_AttitudeControl::relax_attitude_controllers(), SoloGimbalEKF::RunEKF(), AC_AttitudeControl::set_attitude_target_to_current_attitude(), SITL::Aircraft::smooth_sensors(), and test_quaternion().

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from_vector312()

void Quaternion::from_vector312	(	float	roll,
		float	pitch,
		float	yaw
	)

Definition at line 146 of file quaternion.cpp.

Referenced by is_nan(), and SoloGimbalEKF::RunEKF().

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get_euler_pitch()

float Quaternion::get_euler_pitch

(

)

const

Definition at line 260 of file quaternion.cpp.

Referenced by is_nan(), and to_euler().

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get_euler_roll()

float Quaternion::get_euler_roll

(

)

const

Definition at line 254 of file quaternion.cpp.

Referenced by is_nan(), and to_euler().

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get_euler_yaw()

float Quaternion::get_euler_yaw

(

)

const

Definition at line 266 of file quaternion.cpp.

Referenced by is_nan(), and to_euler().

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initialise()

void Quaternion::initialise ( )

inline

Definition at line 113 of file quaternion.h.

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inverse()

Quaternion Quaternion::inverse

(

void

)

const

Definition at line 292 of file quaternion.cpp.

Referenced by AC_AttitudeControl::attitude_controller_run_quat(), initialise(), AC_AttitudeControl::input_quaternion(), AC_AttitudeControl::thrust_heading_rotation_angles(), NavEKF2_core::UpdateStrapdownEquationsNED(), and NavEKF3_core::UpdateStrapdownEquationsNED().

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is_nan()

bool Quaternion::is_nan ( void  ) const

inline

Definition at line 59 of file quaternion.h.

Referenced by NavEKF2_core::getFilterFaults(), NavEKF3_core::getFilterFaults(), NavEKF2_core::updateFilterStatus(), and NavEKF3_core::updateFilterStatus().

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length()

float Quaternion::length

(

void

)

const

Definition at line 287 of file quaternion.cpp.

Referenced by NavEKF3_core::getTiltError(), is_nan(), and normalize().

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normalize()

void Quaternion::normalize

(

void

)

Definition at line 297 of file quaternion.cpp.

Referenced by AP_InertialSensor::_acal_save_calibrations(), SITL::Calibration::_attitude_set(), SoloGimbalEKF::alignHeading(), AC_AttitudeControl::attitude_controller_run_quat(), NavEKF2_core::calcOutputStates(), NavEKF3_core::calcOutputStates(), NavEKF3_core::FuseAirspeed(), NavEKF3_core::FuseBodyVel(), SoloGimbalEKF::fuseCompass(), NavEKF3_core::FuseDeclination(), NavEKF3_core::fuseEulerYaw(), NavEKF3_core::FuseMagnetometer(), NavEKF3_core::FuseOptFlow(), NavEKF3_core::FuseSideslip(), SoloGimbalEKF::fuseVelocity(), NavEKF3_core::FuseVelPosNED(), AC_AttitudeControl::input_angle_step_bf_roll_pitch_yaw(), AC_AttitudeControl::input_rate_bf_roll_pitch_yaw(), is_nan(), SoloGimbalEKF::predictStates(), NavEKF2_core::readIMUData(), NavEKF3_core::readIMUData(), SITL::Aircraft::smooth_sensors(), test_frame_transforms(), NavEKF2_core::UpdateStrapdownEquationsNED(), and NavEKF3_core::UpdateStrapdownEquationsNED().

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operator()()

void Quaternion::operator() ( const float  _q1, const float  _q2, const float  _q3, const float  _q4  )

inline

Definition at line 50 of file quaternion.h.

operator*()

Quaternion Quaternion::operator*

(

const Quaternion &

v

)

const

Definition at line 309 of file quaternion.cpp.

Referenced by operator[]().

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operator*=()

Quaternion & Quaternion::operator*=

(

const Quaternion &

v

)

Definition at line 330 of file quaternion.cpp.

Referenced by operator[]().

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operator/()

Quaternion Quaternion::operator/

(

const Quaternion &

v

)

const

Definition at line 350 of file quaternion.cpp.

Referenced by operator[]().

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operator[]() [1/2]

float& Quaternion::operator[] ( uint8_t  i )

inline

Definition at line 122 of file quaternion.h.

operator[]() [2/2]

const float& Quaternion::operator[] ( uint8_t  i ) const

inline

Definition at line 131 of file quaternion.h.

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rotate()

void Quaternion::rotate

(

const Vector3f &

v

)

Definition at line 182 of file quaternion.cpp.

Referenced by SoloGimbalEKF::alignHeading(), NavEKF2_core::FuseAirspeed(), SoloGimbalEKF::fuseCompass(), NavEKF2_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF2_core::FuseMagnetometer(), NavEKF2_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF2_core::FuseSideslip(), SoloGimbalEKF::fuseVelocity(), NavEKF2_core::FuseVelPosNED(), is_nan(), SoloGimbalEKF::predictStates(), NavEKF2_core::readIMUData(), NavEKF3_core::readIMUData(), NavEKF2_core::UpdateStrapdownEquationsNED(), and NavEKF3_core::UpdateStrapdownEquationsNED().

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rotate_fast()

void Quaternion::rotate_fast

(

const Vector3f &

v

)

Definition at line 223 of file quaternion.cpp.

Referenced by is_nan().

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rotation_matrix()

void Quaternion::rotation_matrix

(

Matrix3f &

m

)

const

Definition at line 24 of file quaternion.cpp.

Referenced by HALSITL::SITL_State::_update_gps(), HALSITL::SITL_State::_update_rangefinder(), NavEKF2_core::calcOutputStates(), NavEKF3_core::calcOutputStates(), NavEKF2_core::calcQuatAndFieldStates(), NavEKF3_core::calcQuatAndFieldStates(), earth_to_body(), NavEKF2_core::getRotationBodyToNED(), NavEKF3_core::getRotationBodyToNED(), SITL::Gimbal::Gimbal(), is_nan(), SoloGimbalEKF::predictStates(), NavEKF2_core::quat2Tbn(), NavEKF3_core::quat2Tbn(), NavEKF2_core::readIMUData(), NavEKF3_core::readIMUData(), SITL::Gazebo::recv_fdm(), test_conversion(), test_quaternion(), AC_AttitudeControl::thrust_heading_rotation_angles(), to_vector312(), SITL::Gimbal::update(), SITL::FlightAxis::update(), AP_AHRS_NavEKF::update_SITL(), NavEKF2_core::UpdateStrapdownEquationsNED(), NavEKF3_core::UpdateStrapdownEquationsNED(), NavEKF2_core::writeOptFlowMeas(), and NavEKF3_core::writeOptFlowMeas().

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rotation_matrix_norm()

void Quaternion::rotation_matrix_norm

(

Matrix3f &

m

)

const

Definition at line 48 of file quaternion.cpp.

Referenced by is_nan().

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to_axis_angle()

void Quaternion::to_axis_angle

(

Vector3f &

v

)

Definition at line 189 of file quaternion.cpp.

Referenced by SITL::Calibration::_attitude_set(), NavEKF2_core::controlMagYawReset(), NavEKF3_core::controlMagYawReset(), AC_AttitudeControl::input_quaternion(), is_nan(), NavEKF2_core::readIMUData(), NavEKF3_core::readIMUData(), SITL::Aircraft::smooth_sensors(), and AC_AttitudeControl::thrust_heading_rotation_angles().

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to_euler()

void Quaternion::to_euler	(	float &	roll,
		float &	pitch,
		float &	yaw
	)		const

Definition at line 272 of file quaternion.cpp.

Referenced by NavEKF2_core::calcQuatAndFieldStates(), NavEKF3_core::calcQuatAndFieldStates(), NavEKF2_core::controlMagYawReset(), NavEKF3_core::controlMagYawReset(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), SoloGimbalEKF::getDebug(), NavEKF2_core::getEulerAngles(), NavEKF3_core::getEulerAngles(), GCS_MAVLINK::handle_att_pos_mocap(), AC_AttitudeControl::inertial_frame_reset(), AC_AttitudeControl::input_angle_step_bf_roll_pitch_yaw(), AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw(), AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(), AC_AttitudeControl::input_euler_rate_roll_pitch_yaw(), AC_AttitudeControl::input_quaternion(), AC_AttitudeControl::input_rate_bf_roll_pitch_yaw(), AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_2(), AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_3(), is_nan(), NavEKF2_core::realignYawGPS(), NavEKF3_core::realignYawGPS(), NavEKF2_core::setWindMagStateLearningMode(), NavEKF3_core::setWindMagStateLearningMode(), test_conversion(), test_quaternion(), and SITL::Vicon::update_vicon_position_estimate().

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to_vector312()

Vector3f Quaternion::to_vector312

(

void

)

const

Definition at line 280 of file quaternion.cpp.

Referenced by NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), and is_nan().

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Member Data Documentation

q1

float Quaternion::q1

Definition at line 27 of file quaternion.h.

Referenced by from_axis_angle(), from_axis_angle_fast(), from_euler(), from_rotation_matrix(), get_euler_pitch(), get_euler_roll(), get_euler_yaw(), inverse(), length(), DataFlash_Class::Log_Write_POS(), normalize(), operator*(), operator*=(), operator/(), operator[](), rotate_fast(), rotation_matrix(), rotation_matrix_norm(), and to_axis_angle().

q2

float Quaternion::q2

Definition at line 27 of file quaternion.h.

Referenced by AC_AttitudeControl::attitude_controller_run_quat(), from_axis_angle(), from_axis_angle_fast(), from_euler(), from_rotation_matrix(), get_euler_pitch(), get_euler_roll(), get_euler_yaw(), inverse(), length(), DataFlash_Class::Log_Write_POS(), normalize(), operator*(), operator*=(), operator/(), rotate_fast(), rotation_matrix(), rotation_matrix_norm(), and to_axis_angle().

q3

float Quaternion::q3

Definition at line 27 of file quaternion.h.

Referenced by AC_AttitudeControl::attitude_controller_run_quat(), from_axis_angle(), from_axis_angle_fast(), from_euler(), from_rotation_matrix(), get_euler_pitch(), get_euler_roll(), get_euler_yaw(), inverse(), length(), DataFlash_Class::Log_Write_POS(), normalize(), operator*(), operator*=(), operator/(), rotate_fast(), rotation_matrix(), rotation_matrix_norm(), and to_axis_angle().

q4

float Quaternion::q4

Definition at line 27 of file quaternion.h.

Referenced by AC_AttitudeControl::attitude_controller_run_quat(), from_axis_angle(), from_axis_angle_fast(), from_euler(), from_rotation_matrix(), get_euler_pitch(), get_euler_roll(), get_euler_yaw(), inverse(), length(), DataFlash_Class::Log_Write_POS(), normalize(), operator*(), operator*=(), operator/(), rotate_fast(), rotation_matrix(), rotation_matrix_norm(), and to_axis_angle().

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

• libraries/AP_Math/quaternion.h
• libraries/AP_Math/quaternion.cpp