Class Quaternion

• Defined in File state.h

Inheritance Relationships

Base Type

• public lupnt::State (Class State)

Class Documentation

class Quaternion : public lupnt::State

Public Functions

inline Quaternion(const Vec4 &x = Vec4::Zero())

Construct a Quaternion state from a stacked 4-element scalar-first quaternion vector. Used as a standalone attitude representation (e.g. for filter/measurement states distinct from the combined Attitude quaternion+angular-velocity state).

Parameters:

x – [q0, q1, q2, q3] (scalar-first), all dimensionless [-].

inline Real &q0()

Mutable reference to the quaternion scalar part.

Returns:

q0 [-].

inline Real &q1()

Mutable reference to the quaternion x-component.

Returns:

q1 [-].

inline Real &q2()

Mutable reference to the quaternion y-component.

Returns:

q2 [-].

inline Real &q3()

Mutable reference to the quaternion z-component.

Returns:

q3 [-].

Public Static Attributes

static StateType TYPE = "Quaternion"