HALCON Reference Manual 10.0.2
Table of Contents / Transformations / Quaternions ClassesClassesClasses | | | Operators

quat_composeT_quat_composequat_composeQuatComposeQuatCompose (Operator)

Name

quat_composeT_quat_composequat_composeQuatComposeQuatCompose — Multiply two quaternions.

Signature

quat_compose( : : QuaternionLeft, QuaternionRight : QuaternionComposed)

Herror T_quat_compose(const Htuple QuaternionLeft, const Htuple QuaternionRight, Htuple* QuaternionComposed)

Herror quat_compose(const HTuple& QuaternionLeft, const HTuple& QuaternionRight, HTuple* QuaternionComposed)

void HOperatorSetX.QuatCompose(
[in] VARIANT QuaternionLeft, [in] VARIANT QuaternionRight, [out] VARIANT* QuaternionComposed)

IHQuaternionX* HQuaternionX.QuatCompose([in] IHQuaternionX* QuaternionRight)

static void HOperatorSet.QuatCompose(HTuple quaternionLeft, HTuple quaternionRight, out HTuple quaternionComposed)

HQuaternion HQuaternion.QuatCompose(HQuaternion quaternionRight)

Description

The operator quat_composequat_composequat_composeQuatComposeQuatCompose multiplies the two quaternions QuaternionLeftQuaternionLeftQuaternionLeftQuaternionLeftquaternionLeft and QuaternionRightQuaternionRightQuaternionRightQuaternionRightquaternionRight and returns the result in QuaternionComposedQuaternionComposedQuaternionComposedQuaternionComposedquaternionComposed.

A quaternion x is given by x = x_{0} + x_{1}*i + x_{2}*j + x_{3}*k. In HALCON, a quaternion is represented by a four value tuple: [x_{0},x_{1},x_{2},x_{3}].

The product of two quaternions x and y is defined as: 

x*y = (x_{0}*y_{0} - x_{1}*y_{1} - x_{2}*y_{2} - x_{3}*y_{3}) +
      (x_{0}*y_{1} + x_{1}*y_{0} + x_{2}*y_{3} - x_{3}*y_{2})*i +
      (x_{0}*y_{2} + x_{1}*y_{3} + x_{2}*y_{0} - x_{3}*y_{1})*j +
      (x_{0}*y_{3} + x_{1}*y_{2} + x_{2}*y_{1} - x_{3}*y_{0})*k

As a consequence, the multiplication of two quaternions is not commutative, i.e. x*y != y*x.

Parallelization

Parameters

QuaternionLeftQuaternionLeftQuaternionLeftQuaternionLeftquaternionLeft (input_control)  quaternion-array → HQuaternion, HTupleHTupleHQuaternionX, VARIANTHtuple (real) (double) (double) (double) (double)

Left quaternion.

QuaternionRightQuaternionRightQuaternionRightQuaternionRightquaternionRight (input_control)  quaternion-array → HQuaternion, HTupleHTupleHQuaternionX, VARIANTHtuple (real) (double) (double) (double) (double)

Right quaternion.

QuaternionComposedQuaternionComposedQuaternionComposedQuaternionComposedquaternionComposed (output_control)  quaternion-array → HQuaternion, HTupleHTupleHQuaternionX, VARIANTHtuple (real) (double) (double) (double) (double)

Product of the input quaternions.

Possible Predecessors

axis_angle_to_quataxis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuat

Possible Successors

quat_to_hom_mat3dquat_to_hom_mat3dquat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3d, quat_to_posequat_to_posequat_to_poseQuatToPoseQuatToPose, quat_rotate_point_3dquat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3d

See also

axis_angle_to_quataxis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuat, quat_to_hom_mat3dquat_to_hom_mat3dquat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3d, quat_rotate_point_3dquat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3d, quat_normalizequat_normalizequat_normalizeQuatNormalizeQuatNormalize, quat_conjugatequat_conjugatequat_conjugateQuatConjugateQuatConjugate

Module

Foundation

Table of Contents / Transformations / Quaternions ClassesClassesClasses | | | Operators
HALCON Reference Manual 10.0.2 Copyright © 1996-2011 MVTec Software GmbH