mrmeshpy.Quaterniond Class Reference

Public Member Functions
Vector3d	__call__ (self, Vector3d p)
Quaterniond	__imatmul__ (self, float s)
None	__init__ (self)
None	__init__ (self, float a, float b, float c, float d)
None	__init__ (self, Vector3d axis, float angle)
None	__init__ (self, float real, Vector3d im)
None	__init__ (self, Matrix3d m)
None	__init__ (self, Vector3d from_, Vector3d to)
None	__init__ (self, Quaterniond arg0)
Quaterniond	__itruediv__ (self, float s)
Quaterniond	__neg__ (self)
float	angle (self)
Vector3d	axis (self)
Quaterniond	conjugate (self)
Vector3d	im (self)
Quaterniond	inverse (self)
float	norm (self)
float	normSq (self)
None	normalize (self)
Quaterniond	normalized (self)
float	a (self)
None	a (self, float arg1)
float	b (self)
None	b (self, float arg1)
float	c (self)
None	c (self, float arg1)
float	d (self)
None	d (self, float arg1)

Static Public Member Functions
Quaterniond	lerp (Quaterniond q0, Quaterniond q1, float t)
Quaterniond	slerp (Quaterniond q0, Quaterniond q1, float t)
Matrix3d	slerp (Matrix3d m0, Matrix3d m1, float t)
AffineXf3d	slerp (AffineXf3d xf0, AffineXf3d xf1, float t, Vector3d p='{}')

Protected Member Functions
Matrix3d	_convert_to_Matrix3_double (self)

Static Protected Member Functions
	_pybind11_conduit_v1_ (*args, **kwargs)

Detailed Description

Generated from:  MR::Quaterniond

Represents a quaternion following the notations from
https://en.wikipedia.org/wiki/Quaternion
\\ingroup MathGroup

Constructor & Destructor Documentation

__init__() [1/7]

None mrmeshpy.Quaterniond.__init__

(

self

)

__init__() [2/7]

None mrmeshpy.Quaterniond.__init__	(		self,
		float	a,
		float	b,
		float	c,
		float	d )

__init__() [3/7]

None mrmeshpy.Quaterniond.__init__	(		self,
		Vector3d	axis,
		float	angle )

\\related Quaternion
\\{

__init__() [4/7]

None mrmeshpy.Quaterniond.__init__	(		self,
		float	real,
		Vector3d	im )

__init__() [5/7]

None mrmeshpy.Quaterniond.__init__	(		self,
		Matrix3d	m )

__init__() [6/7]

None mrmeshpy.Quaterniond.__init__	(		self,
		Vector3d	from_,
		Vector3d	to )

finds shorter arc rotation quaternion from one vector to another

__init__() [7/7]

None mrmeshpy.Quaterniond.__init__	(		self,
		Quaterniond	arg0 )

Implicit copy constructor.

Member Function Documentation

__call__()

Vector3d mrmeshpy.Quaterniond.__call__	(		self,
		Vector3d	p )

for unit quaternion returns the rotation of point p, which is faster to compute for single point;
for multiple points it is faster to create matrix representation and apply it to the points

__imatmul__()

Quaterniond mrmeshpy.Quaterniond.__imatmul__	(		self,
		float	s )

__itruediv__()

Quaterniond mrmeshpy.Quaterniond.__itruediv__	(		self,
		float	s )

__neg__()

Quaterniond mrmeshpy.Quaterniond.__neg__

(

self

)

returns quaternion representing the same rotation, using the opposite rotation direction and opposite angle

_convert_to_Matrix3_double()

Matrix3d mrmeshpy.Quaterniond._convert_to_Matrix3_double ( self )

protected

converts this into 3x3 rotation matrix

_pybind11_conduit_v1_()

mrmeshpy.Quaterniond._pybind11_conduit_v1_ ( * args, ** kwargs )

staticprotected

a() [1/2]

float mrmeshpy.Quaterniond.a

(

self

)

real part of the quaternion

a() [2/2]

None mrmeshpy.Quaterniond.a	(		self,
		float	arg1 )

angle()

float mrmeshpy.Quaterniond.angle

(

self

)

returns angle of rotation encoded in this quaternion

axis()

Vector3d mrmeshpy.Quaterniond.axis

(

self

)

returns axis of rotation encoded in this quaternion

b() [1/2]

float mrmeshpy.Quaterniond.b

(

self

)

imaginary part: b*i + c*j + d*k

b() [2/2]

None mrmeshpy.Quaterniond.b	(		self,
		float	arg1 )

c() [1/2]

float mrmeshpy.Quaterniond.c

(

self

)

imaginary part: b*i + c*j + d*k

c() [2/2]

None mrmeshpy.Quaterniond.c	(		self,
		float	arg1 )

conjugate()

Quaterniond mrmeshpy.Quaterniond.conjugate

(

self

)

computes conjugate quaternion, which for unit quaternions encodes the opposite rotation

d() [1/2]

float mrmeshpy.Quaterniond.d

(

self

)

imaginary part: b*i + c*j + d*k

d() [2/2]

None mrmeshpy.Quaterniond.d	(		self,
		float	arg1 )

im()

Vector3d mrmeshpy.Quaterniond.im

(

self

)

returns imaginary part of the quaternion as a vector

inverse()

Quaterniond mrmeshpy.Quaterniond.inverse

(

self

)

computes reciprocal quaternion

lerp()

Quaterniond mrmeshpy.Quaterniond.lerp ( Quaterniond q0, Quaterniond q1, float t )

static

given t in [0,1], interpolates linearly two quaternions giving in general not-unit quaternion

norm()

float mrmeshpy.Quaterniond.norm

(

self

)

normalize()

None mrmeshpy.Quaterniond.normalize

(

self

)

scales this quaternion to make its norm unit

normalized()

Quaterniond mrmeshpy.Quaterniond.normalized

(

self

)

normSq()

float mrmeshpy.Quaterniond.normSq

(

self

)

slerp() [1/3]

AffineXf3d mrmeshpy.Quaterniond.slerp ( AffineXf3d xf0, AffineXf3d xf1, float t, Vector3d p = '{}' )

static

given t in [0,1] and rigid transformations, interpolates them spherically and produces another rigid transformation;
p is the only point that will have straight line movement during interpolation

slerp() [2/3]

Matrix3d mrmeshpy.Quaterniond.slerp ( Matrix3d m0, Matrix3d m1, float t )

static

given t in [0,1] and two rotation matrices, interpolates them spherically and produces another rotation matrix

slerp() [3/3]

Quaterniond mrmeshpy.Quaterniond.slerp ( Quaterniond q0, Quaterniond q1, float t )

static

given t in [0,1] and two unit quaternions, interpolates them spherically and produces another unit quaternion

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

• mrmeshpy.pyi