axis_angle_to_quatT_axis_angle_to_quatAxisAngleToQuatAxisAngleToQuataxis_angle_to_quat (算子名称)

名称

axis_angle_to_quatT_axis_angle_to_quatAxisAngleToQuatAxisAngleToQuataxis_angle_to_quat — 创建旋转四元数。

参数签名

描述

Quaternions are an extension of the complex numbers. The set of quaternions is given by . In HALCON, quaternions are represented by a tuple containing four elements: .

Unit quaternions can be used to describe rotations. A quaternion is a unit quaternion if its norm is 1. A counterclockwise rotation around an unit vector v (AxisXAxisXAxisXAxisXaxisXaxis_x, AxisYAxisYAxisYAxisYaxisYaxis_y, AxisZAxisZAxisZAxisZaxisZaxis_z) by an angle a (AngleAngleAngleAngleangleangle) can be described by the unit quaternion q =(cos(a/2), sin(a/2) v).

该算子 axis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuatAxisAngleToQuataxis_angle_to_quat can be used to create such a quaternion. To rotate a point using QuaternionQuaternionQuaternionQuaternionquaternionquaternion use 该算子 quat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3dQuatRotatePoint3dquat_rotate_point_3d.

Note that two rotations can be concatenated using 该算子 quat_composequat_composeQuatComposeQuatComposeQuatComposequat_compose. Further, you can use a rotation quaternion to set the orientation of the 3D plot in set_paintset_paintSetPaintSetPaintSetPaintset_paint.

注意

该算子 axis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuatAxisAngleToQuataxis_angle_to_quat does not check whether the vector (AxisXAxisXAxisXAxisXaxisXaxis_x, AxisYAxisYAxisYAxisYaxisYaxis_y, AxisZAxisZAxisZAxisZaxisZaxis_z) is of unit length (i.e. of length 1). If this is not the case, QuaternionQuaternionQuaternionQuaternionquaternionquaternion will be no valid rotation quaternion.

运行信息

• 多线程类型:可重入(与非独占操作符并行运行)。
• 多线程作用域:全局(可以从任何线程调用)。
• 未经并行化处理。

参数表

例程 (HDevelop)

** Normalize a vector and create a rotation quaternion
Length := sqrt(AxisX*AxisX+AxisY*AxisY+AxisZ*AxisZ)
AxisX := AxisX/Length
AxisY := AxisY/Length
AxisZ := AxisZ/Length
axis_angle_to_quat (AxisX, AxisY, AxisZ, rad(90), Quaternion)

可能的后置算子

quat_to_hom_mat3dquat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3dQuatToHomMat3dquat_to_hom_mat3d, quat_to_posequat_to_poseQuatToPoseQuatToPoseQuatToPosequat_to_pose, quat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3dQuatRotatePoint3dquat_rotate_point_3d, quat_composequat_composeQuatComposeQuatComposeQuatComposequat_compose

参考其它

quat_normalizequat_normalizeQuatNormalizeQuatNormalizeQuatNormalizequat_normalize, quat_conjugatequat_conjugateQuatConjugateQuatConjugateQuatConjugatequat_conjugate, quat_interpolatequat_interpolateQuatInterpolateQuatInterpolateQuatInterpolatequat_interpolate, screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat

模块

Foundation

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