quaternion Class Reference
#include <quaternion.hpp>
Detailed Description
Quaternion class.Definition at line 50 of file quaternion.hpp.
Public Member Functions | |
| quaternion | conjugate () const |
| Returns the conjugate of the quaternion: w - xi - yj - zk. | |
| double | dot (const quaternion &) const |
| quaternion | inverse () const |
| Returns the inverse of the quaternion: inverse / norm. | |
| double | norm () const |
| Returns the norm of the quaterion: sqrt(w*w + x*x + y*y + z*z). | |
| void | normalize () |
| Normalizes the quaternion; sets w*w + x*x + y*y + z*z == 1. | |
| quaternion | operator* (const double &) const |
| quaternion | operator* (const quaternion &) const |
| quaternion | operator+ (const quaternion &) const |
| quaternion & | operator= (const transform &) |
| Sets the quaternion from a rotation matrix (ignores any translation component in the transform). | |
| quaternion & | operator= (const quaternion &) |
| Assignment operator; sets the quaternion equal to the given quaternion. | |
| quaternion (const transform &) | |
| Creates a quaternion from a rotation matrix (ignores any translation component in the transform). | |
| quaternion (const gsgl::string &) | |
| Intialize the quaternion from a string of numbers "x y z w"; the resulting quaternion is w + xi + yj + zk. | |
| quaternion (const quaternion &) | |
| Copy constructor; creates a copy of the given quaternion. | |
| quaternion (const vector &v, double a) | |
| Creates a quaternion representing a rotation around the given axis of a radians. | |
| quaternion (const double w=0, const double x=0, const double y=0, const double z=0) | |
| Creates a quaternion w + xi + yj + zk. | |
| virtual | ~quaternion () |
Static Public Member Functions | |
| static quaternion | interpolate (const quaternion &start, const quaternion &end, const double &percent) |
Public Attributes | |
| double | w |
| double | x |
| double | y |
| double | z |
Constructor & Destructor Documentation
| quaternion | ( | const double | w = 0, |
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| const double | x = 0, |
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| const double | y = 0, |
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| const double | z = 0 | |||
| ) |
Creates a quaternion w + xi + yj + zk.
Definition at line 46 of file quaternion.cpp.
Referenced by quaternion::conjugate(), quaternion::inverse(), quaternion::operator*(), and quaternion::operator+().
| quaternion | ( | const vector & | v, | |
| double | a | |||
| ) |
Creates a quaternion representing a rotation around the given axis of a radians.
Definition at line 53 of file quaternion.cpp.
References vector::get_x(), vector::get_y(), vector::get_z(), quaternion::normalize(), quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
| quaternion | ( | const quaternion & | q | ) |
Copy constructor; creates a copy of the given quaternion.
Definition at line 66 of file quaternion.cpp.
References quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
| quaternion | ( | const gsgl::string & | s | ) | [explicit] |
Intialize the quaternion from a string of numbers "x y z w"; the resulting quaternion is w + xi + yj + zk.
Definition at line 77 of file quaternion.cpp.
References vector::get_w(), vector::get_x(), vector::get_y(), vector::get_z(), quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
| quaternion | ( | const transform & | t | ) | [explicit] |
Creates a quaternion from a rotation matrix (ignores any translation component in the transform).
Definition at line 90 of file quaternion.cpp.
| ~quaternion | ( | ) | [virtual] |
Definition at line 179 of file quaternion.cpp.
Member Function Documentation
| quaternion conjugate | ( | ) | const |
Returns the conjugate of the quaternion: w - xi - yj - zk.
Definition at line 194 of file quaternion.cpp.
References quaternion::quaternion(), quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
| double dot | ( | const quaternion & | q | ) | const |
Definition at line 254 of file quaternion.cpp.
References quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
Referenced by quaternion::interpolate().
| quaternion interpolate | ( | const quaternion & | start, | |
| const quaternion & | end, | |||
| const double & | percent | |||
| ) | [static] |
Definition at line 260 of file quaternion.cpp.
References quaternion::dot(), and quaternion::normalize().
| quaternion inverse | ( | ) | const |
Returns the inverse of the quaternion: inverse / norm.
Definition at line 201 of file quaternion.cpp.
References quaternion::norm(), quaternion::quaternion(), quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
| double norm | ( | ) | const |
Returns the norm of the quaterion: sqrt(w*w + x*x + y*y + z*z).
Definition at line 187 of file quaternion.cpp.
References quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
Referenced by quaternion::inverse(), and quaternion::normalize().
| void normalize | ( | ) |
Normalizes the quaternion; sets w*w + x*x + y*y + z*z == 1.
Definition at line 213 of file quaternion.cpp.
References quaternion::norm(), quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
Referenced by rigid_body::compute_derived_quantities(), quaternion::interpolate(), quaternion::operator=(), and quaternion::quaternion().
| quaternion operator* | ( | const double & | n | ) | const |
Definition at line 248 of file quaternion.cpp.
References quaternion::quaternion(), quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
| quaternion operator* | ( | const quaternion & | q | ) | const |
Definition at line 239 of file quaternion.cpp.
References quaternion::quaternion(), quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
| quaternion operator+ | ( | const quaternion & | q | ) | const |
Definition at line 233 of file quaternion.cpp.
References quaternion::quaternion(), quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
| quaternion & operator= | ( | const transform & | t | ) |
Sets the quaternion from a rotation matrix (ignores any translation component in the transform).
Definition at line 98 of file quaternion.cpp.
References quaternion::normalize(), matrix::ptr(), quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
| quaternion & operator= | ( | const quaternion & | q | ) |
Assignment operator; sets the quaternion equal to the given quaternion.
Definition at line 169 of file quaternion.cpp.
References quaternion::w, quaternion::x, quaternion::y, and quaternion::z.
Member Data Documentation
| double w |
Definition at line 54 of file quaternion.hpp.
Referenced by quaternion::conjugate(), quaternion::dot(), quaternion::inverse(), quaternion::norm(), quaternion::normalize(), quaternion::operator*(), quaternion::operator+(), transform::operator=(), quaternion::operator=(), and quaternion::quaternion().
| double x |
Definition at line 54 of file quaternion.hpp.
Referenced by quaternion::conjugate(), quaternion::dot(), quaternion::inverse(), quaternion::norm(), quaternion::normalize(), quaternion::operator*(), quaternion::operator+(), transform::operator=(), quaternion::operator=(), and quaternion::quaternion().
| double y |
Definition at line 54 of file quaternion.hpp.
Referenced by quaternion::conjugate(), quaternion::dot(), quaternion::inverse(), quaternion::norm(), quaternion::normalize(), quaternion::operator*(), quaternion::operator+(), transform::operator=(), quaternion::operator=(), and quaternion::quaternion().
| double z |
Definition at line 54 of file quaternion.hpp.
Referenced by quaternion::conjugate(), quaternion::dot(), quaternion::inverse(), quaternion::norm(), quaternion::normalize(), quaternion::operator*(), quaternion::operator+(), transform::operator=(), quaternion::operator=(), and quaternion::quaternion().
The documentation for this class was generated from the following files:
