so3.hpp 文件参考

this file defines the SO3 class, which represents the special orthogonal group in 3D space. 更多...

#include "TensorType.hpp"
#include "VectorType.hpp"
#include <iostream>
#include <cmath>

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命名空间
namespace	z::math
	math namespace, contains some math functions

函数
template<typename Scalar>
z::math::Vector< Scalar, 3 >	z::math::cross (const z::math::Vector< Scalar, 3 > &a, const z::math::Vector< Scalar, 3 > &b)
	cross product of two 3D vectors.
template<typename Scalar>
z::math::Vector< Scalar, 4 >	z::math::quat_conjugate (const z::math::Vector< Scalar, 4 > &quat)
	Compute the conjugate of a quaternion.
template<typename Scalar>
z::math::Vector< Scalar, 4 >	z::math::quat_unit (const z::math::Vector< Scalar, 4 > &quat)
	Normalize a quaternion to unit length.
template<typename Scalar>
z::math::Vector< Scalar, 4 >	z::math::quat_mul (const z::math::Vector< Scalar, 4 > &a, const z::math::Vector< Scalar, 4 > &b)
	Multiply two quaternions.
template<typename Scalar>
z::math::Vector< Scalar, 3 >	z::math::quat_rotate (const z::math::Vector< Scalar, 4 > &q, const z::math::Vector< Scalar, 3 > &v)
	Rotate a 3D vector by a quaternion.
template<typename Scalar>
z::math::Vector< Scalar, 3 >	z::math::quat_rotate_inverse (const z::math::Vector< Scalar, 4 > &q, const z::math::Vector< Scalar, 3 > &v)
	Rotate a 3D vector by the inverse of a quaternion.
template<typename Scalar>
z::math::Vector< Scalar, 4 >	z::math::quat_from_euler_xyz (const z::math::Vector< Scalar, 3 > &euler)
	Convert Euler angles (in radians) to quaternion representation.
template<typename Scalar>
z::math::Vector< Scalar, 3 >	z::math::get_euler_xyz (const z::math::Vector< Scalar, 4 > &quat)
	Convert quaternion representation to Euler angles (in radians).
template<typename Scalar>
z::math::Vector< Scalar, 3 >	z::math::so3_from_quat (const z::math::Vector< Scalar, 4 > &quat)
	Convert a quaternion to an so(3) vector representation.
template<typename Scalar>
z::math::Vector< Scalar, 4 >	z::math::so3_to_quat (const z::math::Vector< Scalar, 3 > &so3)
	Convert an so(3) vector representation to a quaternion.
template<typename Scalar>
z::math::Vector< Scalar, 4 >	z::math::quat_slerp (const z::math::Vector< Scalar, 4 > &a, const z::math::Vector< Scalar, 4 > &b, Scalar t)
	Perform spherical linear interpolation (SLERP) between two quaternions.
template<typename Scalar>
z::math::Vector< Scalar, 4 >	z::math::quat_diff (const z::math::Vector< Scalar, 4 > &a, const z::math::Vector< Scalar, 4 > &b)
	Compute the difference between two quaternions, ensuring the shortest path.
template<typename Scalar>
z::math::Vector< Scalar, 3 >	z::math::so3_diff (const z::math::Vector< Scalar, 3 > &a, const z::math::Vector< Scalar, 3 > &b)
	Compute the difference between two so(3) vectors, ensuring the shortest path.

详细描述

this file defines the SO3 class, which represents the special orthogonal group in 3D space.

作者

zishun zhou

版本

0.1

日期

2025-05-26

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