Struct QuaternionAverager

pub struct QuaternionAverager<T: RealField + Copy + PartialEq> { /* private fields */ }

A quaternion averager. Implemented as discussed here

Implementations

impl<T: RealField + Copy + PartialEq> QuaternionAverager<T>

pub fn new() -> QuaternionAverager<T>

Creates and returns a new quaternion averager

Example

use quaternion_averager::QuaternionAverager;

let mut qa = QuaternionAverager::<f64>::new();

pub fn add_quaternion(&mut self, quaternion: &UnitQuaternion<T>)

Add a new unit quaternion with weight 1 to the averager

Example

use quaternion_averager::QuaternionAverager;
use nalgebra::{
    geometry::Quaternion,
    geometry::UnitQuaternion,
};

let mut qa = QuaternionAverager::new();
let q1 = Quaternion::new(0.9961947f32, 0.0871557f32, 0f32, 0f32);
let q1 = UnitQuaternion::from_quaternion(q1);
qa.add_quaternion(&q1);

pub fn add_quaternion_weighted( &mut self, quaternion: &UnitQuaternion<T>, weight: T, )

Add a new unit quaternion with custom weight to the averager

Example

use quaternion_averager::QuaternionAverager;
use nalgebra::{
    geometry::Quaternion,
    geometry::UnitQuaternion,
};

let mut qa = QuaternionAverager::new();
let q1 = Quaternion::new(0.9961947f32, 0.0871557f32, 0f32, 0f32);
let q1 = UnitQuaternion::from_quaternion(q1);
qa.add_quaternion_weighted(&q1, 0.25f32);

pub fn calc_average(&self) -> UnitQuaternion<T>

Calculates and returns the quaternion average

Example

use quaternion_averager::QuaternionAverager;
use nalgebra::{
    geometry::Quaternion,
    geometry::UnitQuaternion,
};

let mut qa = QuaternionAverager::new();
let q1 = Quaternion::new(0.9961947f32, 0.0871557f32, 0f32, 0f32);
let q1 = UnitQuaternion::from_quaternion(q1);
let q2 = Quaternion::new(0.9848078f32, 0.1736482f32, 0f32, 0f32);
let q2 = UnitQuaternion::from_quaternion(q2);
qa.add_quaternion(&q1);
qa.add_quaternion(&q2);
let qavg = qa.calc_average();
println!("The average of {} and {} is {}", q1, q2, qavg);

Trait Implementations

impl<T: RealField + Copy + PartialEq> Default for QuaternionAverager<T>

fn default() -> Self

Returns the “default value” for a type.