563 lines
19 KiB
HTML
Executable file
563 lines
19 KiB
HTML
Executable file
<?xml version="1.0" encoding="ascii"?>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
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<title>Scientific.Geometry.Quaternion.Quaternion</title>
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<body bgcolor="white" text="black" link="blue" vlink="#204080"
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<!-- ==================== NAVIGATION BAR ==================== -->
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><a class="navbar" target="_top" href="http://dirac.cnrs-orleans.fr/ScientificPython/">Scientific Python</a></th>
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<a href="Scientific-module.html">Package Scientific</a> ::
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<a href="Scientific.Geometry-module.html">Package Geometry</a> ::
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<a href="Scientific.Geometry.Quaternion-module.html">Module Quaternion</a> ::
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Class Quaternion
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</span>
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</td>
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<td>
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<table cellpadding="0" cellspacing="0">
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target="_top">no frames</a>]</span></td></tr>
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<!-- ==================== CLASS DESCRIPTION ==================== -->
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<h1 class="epydoc">Class Quaternion</h1><p class="nomargin-top"></p>
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<p>Quaternion (hypercomplex number)</p>
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<p>This implementation of quaternions is not complete; only the features
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needed for representing rotation matrices by quaternions are
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implemented.</p>
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<p>Quaternions support addition, subtraction, and multiplication, as well
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as multiplication and division by scalars. Division by quaternions is not
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provided, because quaternion multiplication is not associative. Use
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multiplication by the inverse instead.</p>
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<p>The four components can be extracted by indexing.</p>
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<!-- ==================== INSTANCE METHODS ==================== -->
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<a name="section-InstanceMethods"></a>
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<table class="summary" border="1" cellpadding="3"
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cellspacing="0" width="100%" bgcolor="white">
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<tr bgcolor="#70b0f0" class="table-header">
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<td align="left" colspan="2" class="table-header">
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<span class="table-header">Instance Methods</span></td>
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</tr>
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<tr>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"> </span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a name="__add__"></a><span class="summary-sig-name">__add__</span>(<span class="summary-sig-arg">self</span>,
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<span class="summary-sig-arg">other</span>)</span></td>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"> </span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a name="__div__"></a><span class="summary-sig-name">__div__</span>(<span class="summary-sig-arg">self</span>,
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<span class="summary-sig-arg">other</span>)</span></td>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"> </span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a name="__getitem__"></a><span class="summary-sig-name">__getitem__</span>(<span class="summary-sig-arg">self</span>,
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<span class="summary-sig-arg">item</span>)</span></td>
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<td align="right" valign="top">
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"> </span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a href="Scientific.Geometry.Quaternion.Quaternion-class.html#__init__" class="summary-sig-name">__init__</a>(<span class="summary-sig-arg">self</span>,
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<span class="summary-sig-arg">*data</span>)</span><br />
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There are two calling patterns:</td>
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<td align="right" valign="top">
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</td>
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</table>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"> </span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a name="__mul__"></a><span class="summary-sig-name">__mul__</span>(<span class="summary-sig-arg">self</span>,
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<span class="summary-sig-arg">other</span>)</span></td>
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<td align="right" valign="top">
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</td>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"> </span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<td><span class="summary-sig"><a name="__rdiv__"></a><span class="summary-sig-name">__rdiv__</span>(<span class="summary-sig-arg">self</span>,
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<span class="summary-sig-arg">other</span>)</span></td>
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<td align="right" valign="top">
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</td>
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</table>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"> </span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a name="__repr__"></a><span class="summary-sig-name">__repr__</span>(<span class="summary-sig-arg">self</span>)</span></td>
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<td align="right" valign="top">
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</td>
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</table>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"> </span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a name="__rmul__"></a><span class="summary-sig-name">__rmul__</span>(<span class="summary-sig-arg">self</span>,
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<span class="summary-sig-arg">other</span>)</span></td>
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<td align="right" valign="top">
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</td>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"> </span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a name="__sub__"></a><span class="summary-sig-name">__sub__</span>(<span class="summary-sig-arg">self</span>,
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<span class="summary-sig-arg">other</span>)</span></td>
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<td align="right" valign="top">
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</tr>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"><code>Numeric.array</code></span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a href="Scientific.Geometry.Quaternion.Quaternion-class.html#asMatrix" class="summary-sig-name">asMatrix</a>(<span class="summary-sig-arg">self</span>)</span><br />
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Returns:
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a 4x4 matrix representation</td>
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<td align="right" valign="top">
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</td>
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</tr>
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</table>
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</td>
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</tr>
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<tr>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"><a href="Scientific.Geometry.Transformation.Rotation-class.html"
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class="link">Scientific.Geometry.Transformation.Rotation</a></span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a href="Scientific.Geometry.Quaternion.Quaternion-class.html#asRotation" class="summary-sig-name">asRotation</a>(<span class="summary-sig-arg">self</span>)</span><br />
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Returns:
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the corresponding rotation matrix</td>
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<td align="right" valign="top">
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</td>
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</tr>
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</table>
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</td>
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</tr>
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<tr>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"> </span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a name="dot"></a><span class="summary-sig-name">dot</span>(<span class="summary-sig-arg">self</span>,
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<span class="summary-sig-arg">other</span>)</span></td>
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<td align="right" valign="top">
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</td>
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</tr>
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</table>
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</td>
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</tr>
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<tr>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"><a href="Scientific.Geometry.Quaternion.Quaternion-class.html"
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class="link">Quaternion</a></span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a href="Scientific.Geometry.Quaternion.Quaternion-class.html#inverse" class="summary-sig-name">inverse</a>(<span class="summary-sig-arg">self</span>)</span><br />
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Returns:
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the inverse</td>
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<td align="right" valign="top">
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</td>
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</tr>
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</table>
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</td>
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</tr>
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<tr>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"><code>float</code></span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a href="Scientific.Geometry.Quaternion.Quaternion-class.html#norm" class="summary-sig-name">norm</a>(<span class="summary-sig-arg">self</span>)</span><br />
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Returns:
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the norm</td>
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<td align="right" valign="top">
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</td>
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</tr>
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</table>
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</td>
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</tr>
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<tr>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"><a href="Scientific.Geometry.Quaternion.Quaternion-class.html"
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class="link">Quaternion</a></span>
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</td><td class="summary">
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr>
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<td><span class="summary-sig"><a href="Scientific.Geometry.Quaternion.Quaternion-class.html#normalized" class="summary-sig-name">normalized</a>(<span class="summary-sig-arg">self</span>)</span><br />
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Returns:
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the quaternion scaled such that its norm is 1</td>
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<td align="right" valign="top">
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</td>
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</tr>
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</table>
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</td>
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</tr>
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</table>
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<!-- ==================== CLASS VARIABLES ==================== -->
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<a name="section-ClassVariables"></a>
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<table class="summary" border="1" cellpadding="3"
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cellspacing="0" width="100%" bgcolor="white">
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<tr bgcolor="#70b0f0" class="table-header">
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<td align="left" colspan="2" class="table-header">
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<span class="table-header">Class Variables</span></td>
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</tr>
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<tr>
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<td width="15%" align="right" valign="top" class="summary">
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<span class="summary-type"> </span>
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</td><td class="summary">
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<a name="is_quaternion"></a><span class="summary-name">is_quaternion</span> = <code title="1">1</code>
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</td>
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</tr>
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</table>
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<!-- ==================== METHOD DETAILS ==================== -->
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<a name="section-MethodDetails"></a>
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<table class="details" border="1" cellpadding="3"
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cellspacing="0" width="100%" bgcolor="white">
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<tr bgcolor="#70b0f0" class="table-header">
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<td align="left" colspan="2" class="table-header">
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<span class="table-header">Method Details</span></td>
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</tr>
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</table>
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<a name="__init__"></a>
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<div>
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<table class="details" border="1" cellpadding="3"
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cellspacing="0" width="100%" bgcolor="white">
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<tr><td>
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr valign="top"><td>
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<h3 class="epydoc"><span class="sig"><span class="sig-name">__init__</span>(<span class="sig-arg">self</span>,
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<span class="sig-arg">*data</span>)</span>
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<br /><em class="fname">(Constructor)</em>
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</h3>
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</td><td align="right" valign="top"
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>
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</td>
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</tr></table>
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<p>There are two calling patterns:</p>
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<ul>
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<li>
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Quaternion(q0, q1, q2, q3) (from four real components)
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</li>
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<li>
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Quaternion(q) (from a sequence containing the four components)
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</li>
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</ul>
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<dl class="fields">
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</dl>
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</td></tr></table>
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</div>
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<a name="asMatrix"></a>
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<div>
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<table class="details" border="1" cellpadding="3"
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cellspacing="0" width="100%" bgcolor="white">
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<tr><td>
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr valign="top"><td>
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<h3 class="epydoc"><span class="sig"><span class="sig-name">asMatrix</span>(<span class="sig-arg">self</span>)</span>
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</h3>
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</td><td align="right" valign="top"
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>
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</td>
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</tr></table>
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<dl class="fields">
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<dt>Returns: <code>Numeric.array</code></dt>
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<dd>a 4x4 matrix representation</dd>
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</dl>
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</td></tr></table>
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</div>
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<a name="asRotation"></a>
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<div>
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<table class="details" border="1" cellpadding="3"
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cellspacing="0" width="100%" bgcolor="white">
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<tr><td>
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr valign="top"><td>
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<h3 class="epydoc"><span class="sig"><span class="sig-name">asRotation</span>(<span class="sig-arg">self</span>)</span>
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</h3>
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</td><td align="right" valign="top"
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>
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</td>
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</tr></table>
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<dl class="fields">
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<dt>Returns: <a href="Scientific.Geometry.Transformation.Rotation-class.html"
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class="link">Scientific.Geometry.Transformation.Rotation</a></dt>
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<dd>the corresponding rotation matrix</dd>
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<dt>Raises:</dt>
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<dd><ul class="nomargin-top">
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<li><code><strong class='fraise'>ValueError</strong></code> - if the quaternion is not normalized</li>
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</ul></dd>
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</dl>
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</td></tr></table>
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</div>
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<a name="inverse"></a>
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<div>
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<table class="details" border="1" cellpadding="3"
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cellspacing="0" width="100%" bgcolor="white">
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<tr><td>
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<table width="100%" cellpadding="0" cellspacing="0" border="0">
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<tr valign="top"><td>
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<h3 class="epydoc"><span class="sig"><span class="sig-name">inverse</span>(<span class="sig-arg">self</span>)</span>
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</h3>
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</td><td align="right" valign="top"
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>
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</td>
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</tr></table>
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<dl class="fields">
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<dt>Returns: <a href="Scientific.Geometry.Quaternion.Quaternion-class.html"
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class="link">Quaternion</a></dt>
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<dd>the inverse</dd>
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</dl>
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</td></tr></table>
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</div>
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<a name="norm"></a>
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<div>
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<h3 class="epydoc"><span class="sig"><span class="sig-name">norm</span>(<span class="sig-arg">self</span>)</span>
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</td><td align="right" valign="top"
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>
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</tr></table>
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<dl class="fields">
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<dt>Returns: <code>float</code></dt>
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<dd>the norm</dd>
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</dl>
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</td></tr></table>
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>
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</td>
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</tr></table>
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<dl class="fields">
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<dt>Returns: <a href="Scientific.Geometry.Quaternion.Quaternion-class.html"
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class="link">Quaternion</a></dt>
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|
<dd>the quaternion scaled such that its norm is 1</dd>
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