HALCON 18.05 / HALCON Operator Reference / Transformations / Quaternions
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quat_rotate_point_3dT_quat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3d (Operator)

Name

quat_rotate_point_3dT_quat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3d — Perform a rotation by a unit quaternion.

Signature

quat_rotate_point_3d( : : Quaternion, Px, Py, Pz : Qx, Qy, Qz)

Herror T_quat_rotate_point_3d(const Htuple Quaternion, const Htuple Px, const Htuple Py, const Htuple Pz, Htuple* Qx, Htuple* Qy, Htuple* Qz)

void QuatRotatePoint3d(const HTuple& Quaternion, const HTuple& Px, const HTuple& Py, const HTuple& Pz, HTuple* Qx, HTuple* Qy, HTuple* Qz)

double HQuaternion::QuatRotatePoint3d(double Px, double Py, double Pz, double* Qy, double* Qz) const

static void HOperatorSet.QuatRotatePoint3d(HTuple quaternion, HTuple px, HTuple py, HTuple pz, out HTuple qx, out HTuple qy, out HTuple qz)

double HQuaternion.QuatRotatePoint3d(double px, double py, double pz, out double qy, out double qz)

Description

Given a rotation quaternion (e.g. generated by axis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuatAxisAngleToQuat), the operator quat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3dQuatRotatePoint3d can be used to rotate a 3D point (PxPxPxPxpx, PyPyPyPypy, PzPzPzPzpz). The rotated point is returned in (QxQxQxQxqx, QyQyQyQyqy, QzQzQzQzqz).

The rotation of a point x by an unit quaternion q is given by

corresponds to the conjugation of a quaternion q (see quat_conjugatequat_conjugateQuatConjugateQuatConjugateQuatConjugate). Note that x will be transformed into quaternion form to perform the rotation. This is done by setting the real part to zero and the three imaginary components to the three components of x.

Attention

The operator quat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3dQuatRotatePoint3d does not check whether QuaternionQuaternionQuaternionQuaternionquaternion is a unit quaternion. If QuaternionQuaternionQuaternionQuaternionquaternion is not a unit quaternion, the result of this operator is not defined.

Execution Information

Parameters

QuaternionQuaternionQuaternionQuaternionquaternion (input_control)  quaternion → HQuaternion, HTupleHTupleHtuple (real) (double) (double) (double)

Rotation quaternion.

PxPxPxPxpx (input_control)  real → HTupleHTupleHtuple (real) (double) (double) (double)

X coordinate of the point to be rotated.

PyPyPyPypy (input_control)  real → HTupleHTupleHtuple (real) (double) (double) (double)

Y coordinate of the point to be rotated.

PzPzPzPzpz (input_control)  real → HTupleHTupleHtuple (real) (double) (double) (double)

Z coordinate of the point to be rotated.

QxQxQxQxqx (output_control)  real → HTupleHTupleHtuple (real) (double) (double) (double)

X coordinate of the rotated point.

QyQyQyQyqy (output_control)  real → HTupleHTupleHtuple (real) (double) (double) (double)

Y coordinate of the rotated point.

QzQzQzQzqz (output_control)  real → HTupleHTupleHtuple (real) (double) (double) (double)

Z coordinate of the rotated point.

Possible Predecessors

axis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuatAxisAngleToQuat

See also

axis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuatAxisAngleToQuat, quat_to_hom_mat3dquat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3dQuatToHomMat3d, quat_composequat_composeQuatComposeQuatComposeQuatCompose, quat_normalizequat_normalizeQuatNormalizeQuatNormalizeQuatNormalize, quat_conjugatequat_conjugateQuatConjugateQuatConjugateQuatConjugate, quat_interpolatequat_interpolateQuatInterpolateQuatInterpolateQuatInterpolate, dual_quat_trans_line_3ddual_quat_trans_line_3dDualQuatTransLine3dDualQuatTransLine3dDualQuatTransLine3d

Module

Foundation

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HALCON Operator Reference 18.05 Copyright © 1996-2018 MVTec Software GmbH