Struct Quaternion

pub struct Quaternion { /* private fields */ }

A quaternion. Wrapper around C++ implementation maliput::math::Quaternion.

Implementations

impl Quaternion

pub fn new(w: f64, x: f64, y: f64, z: f64) -> Quaternion

Create a new Quaternion with the given w, x, y, and z components. The w component is the real part of the quaternion. The x, y, and z components are the imaginary parts of the quaternion.

pub fn w(&self) -> f64

Get the w component of the Quaternion.

pub fn x(&self) -> f64

Get the x component of the Quaternion.

pub fn y(&self) -> f64

Get the y component of the Quaternion.

pub fn z(&self) -> f64

Get the z component of the Quaternion.

pub fn vec(&self) -> Vector3

Returns this quaternion Vector.

pub fn coeffs(&self) -> Vector4

Returns this quaternion coefficients.

pub fn dot(&self, other: &Quaternion) -> f64

Get the dot product of the Quaternion with another Quaternion.

pub fn angular_distance(&self, other: &Quaternion) -> f64

Get the angular distance between the Quaternion and another Quaternion.

pub fn norm(&self) -> f64

Get the norm of the Quaternion.

pub fn normalize(&mut self)

Normalize the Quaternion.

pub fn squared_norm(&self) -> f64

Get the squared norm of the Quaternion.

pub fn inverse(&self) -> Quaternion

Get the inverse of the Quaternion.

pub fn conjugate(&self) -> Quaternion

Get the conjugate of the Quaternion.

pub fn to_rotation_matrix(&self) -> Matrix3

Get the rotation matrix representation of the Quaternion.

pub fn transform_vector(&self, v: &Vector3) -> Vector3

Apply the Quaternion to a Vector3.

Trait Implementations

impl Debug for Quaternion

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Display for Quaternion

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for Quaternion

fn eq(&self, other: &Self) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Eq for Quaternion