ARGoS
3
A parallel, multi-engine simulator for swarm robotics
vector3.cpp
Go to the documentation of this file.
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#include "
vector3.h
"
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#include "
quaternion.h
"
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namespace
argos
{
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/****************************************/
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/****************************************/
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const
CVector3
CVector3::X
(1.0, 0.0, 0.0);
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const
CVector3
CVector3::Y
(0.0, 1.0, 0.0);
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const
CVector3
CVector3::Z
(0.0, 0.0, 1.0);
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const
CVector3
CVector3::ZERO
;
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/****************************************/
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/****************************************/
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CVector3
&
CVector3::Rotate
(
const
CQuaternion
& c_quaternion) {
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CQuaternion
cResult;
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cResult = c_quaternion;
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cResult *=
CQuaternion
(0.0f, m_fX, m_fY, m_fZ);
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cResult *= c_quaternion.
Inverse
();
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m_fX = cResult.
GetX
();
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m_fY = cResult.
GetY
();
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m_fZ = cResult.
GetZ
();
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return
*
this
;
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}
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/****************************************/
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/****************************************/
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}
argos
The namespace containing all the ARGoS related code.
Definition:
ci_actuator.h:12
argos::CVector3
A 3D vector class.
Definition:
vector3.h:29
argos::CVector3::X
static const CVector3 X
The x axis.
Definition:
vector3.h:34
argos::CQuaternion::Inverse
CQuaternion Inverse() const
Definition:
quaternion.h:97
argos::CVector3::Z
static const CVector3 Z
The z axis.
Definition:
vector3.h:40
vector3.h
argos::CQuaternion::GetY
Real GetY() const
Definition:
quaternion.h:56
argos::CVector3::Y
static const CVector3 Y
The y axis.
Definition:
vector3.h:37
argos::CQuaternion::GetZ
Real GetZ() const
Definition:
quaternion.h:60
argos::CQuaternion
Definition:
quaternion.h:14
argos::CQuaternion::GetX
Real GetX() const
Definition:
quaternion.h:52
argos::CVector3::ZERO
static const CVector3 ZERO
The zero vector (0,0,0)
Definition:
vector3.h:43
argos::CVector3::Rotate
CVector3 & Rotate(const CQuaternion &c_quaternion)
Rotates this vector by the given quaternion.
Definition:
vector3.cpp:25
quaternion.h
core
utility
math
vector3.cpp
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