| Quaternion Structure |
Quaternion, used to describe a rotation.
Namespace: ABB.Robotics.Math
Assembly: ABB.Robotics.Math (in ABB.Robotics.Math.dll) Version: 7.0.8747.636
SyntaxC#
public struct Quaternion
The Quaternion type exposes the following members.
Properties| Name | Description | |
|---|---|---|
 | AxisAngle |
Gets/sets the rotation as normalized rotation axis and angle (represesented by a Vector4 [axis, angle]). |
| EulerXYZ |
Gets/sets the rotation as Euler angles (xyz order). Equivalent to RPY (?). |
| EulerZYX |
Gets/sets the rotation as Euler angles (zyx order). Note: the vector contains the angles as [rx,ry,rz] |
| Item |
Array access.
|
| Matrix |
Gets/sets the rotation as a 3x3 matrix
|
| Scalar |
Gets/sets the scalar part.
|
| Vector |
Gets/sets the vector part.
|
Methods| Name | Description | |
|---|---|---|
 | Add |
Element-wise addition method.
|
| AlmostEquals |
Comparison method for quaternions with tolerance (EPS)
|
| Conjugate |
Returns the conjugate [q1,-q2,-q3,-q4] of the quaternion.
|
| Divide |
Quaternion-scalar division method.
|
| Dot |
Quaternion dot product.
|
| Equals | (Overrides ValueTypeEquals(Object).) |
| GetHashCode | (Overrides ValueTypeGetHashCode.) |
| GetType | (Inherited from Object.) |
| Interpolate |
Spherical linear interpolation.
|
| Inverse |
Returns the inverse (conjugate*1/norm) of the quaternion.
|
| Invert |
Inverts the quaternion.
|
| Magnitude |
Returns the magnitude of the quaternion.
|
| Multiply(Double) |
Quaternion-scalar multiplication method.
|
| Multiply(Quaternion) |
Quaternion-Quaternion multiplication method.
|
| Norm |
Returns the norm of the quaternion.
|
| Normalize |
Normalizes the quaternion.
|
| Subtract |
Element-wise subtraction method.
|
| ToString |
Returns a string in the format (Overrides ValueTypeToString.)[q1 q2 q3 q4] |
| ToString(Int32, String) |
Returns a string in the format q1 q2 q3 q4 with a specified number of decimals
and separator between the elements.
|
Operators| Name | Description | |
|---|---|---|
  | Addition |
Element-wise addition operator.
|
| Division |
Quaternion-scalar division operator.
|
| Equality |
Equality operator
|
| Inequality |
Inequality operator
|
| Multiply(Double, Quaternion) |
Scalar-Quaternion multiplication operator.
|
| Multiply(Quaternion, Quaternion) |
Quaternion-Quaternion multiplication operator.
|
| Multiply(Quaternion, Double) |
Quaternion-scalar multiplication operator.
|
| Subtraction |
Element-wise subtraction operator.
|
| UnaryNegation |
Unary negation operator.
|
Fields| Name | Description | |
|---|---|---|
 | Identity |
Identity quaternion [1,0,0,0] |
| q1 |
Scalar part.
|
| q2 |
Vector part.
|
| q3 |
Vector part.
|
| q4 |
Vector part.
|
Version InformationSupported in: 1.0
See Also