Quaternion Class Reference

a class to implement a quaternion More...

#include <mia/3d/quaternion.hh>

Collaboration diagram for Quaternion:

Public Member Functions
C3DDVector	get_euler_angles () const
const C3DDMatrix	get_rotation_matrix () const
Quaternion	inverse () const
double	norm () const
void	normalize ()
	normalizes to quaternion More...
Quaternion &	operator*= (const Quaternion &other)
Quaternion &	operator+= (const Quaternion &other)
Quaternion &	operator-= (const Quaternion &other)
void	print (std::ostream &os) const
	Quaternion ()
	Quaternion (const Quaternion &other)=default
	Quaternion (const C3DDVector &rot)
	Quaternion (const C3DFMatrix &rot)
	Quaternion (const C3DDMatrix &rot)
	Quaternion (double w, double x, double y, double z)
double	w () const
double	x () const
double	y () const
double	z () const

Static Public Attributes
static const Quaternion	_1

Friends
bool	operator== (const Quaternion &a, const Quaternion &b)

Detailed Description

a class to implement a quaternion

This class implements some operations of a quaternion. The rotation is implemented as clockwise/left-handed rotation.

Definition at line 43 of file quaternion.hh.

Constructor & Destructor Documentation

Quaternion() [1/6]

Quaternion::Quaternion

(

)

The standard constructor that sets all values of the quaternion to zero.

Quaternion() [2/6]

Quaternion::Quaternion ( const Quaternion &  other )

default

The copy constructor.

Parameters

other

Quaternion() [3/6]

Quaternion::Quaternion

(

const C3DDVector &

rot

)

This constructor creates a quaternion from three Euler angles that are applied with the x-y-z convention.

Parameters

rot

Quaternion() [4/6]

Quaternion::Quaternion

(

const C3DFMatrix &

rot

)

This constructor creates a quaternion from a 3x3 rotation matrix. If mat3x3 is not a true rotation matrix, then this constructor evaluates the rotation quaternion that best resembles the matrix transformation.

Parameters

rot

Quaternion() [5/6]

Quaternion::Quaternion

(

const C3DDMatrix &

rot

)

This constructor creates a quaternion from a 3x3 rotation matrix. If mat3x3 is not a true rotation matrix, then this constructor evaluates the rotation quaternion that best resembles the matrix transformation.

Parameters

rot

Quaternion() [6/6]

Quaternion::Quaternion	(	double	w,
		double	x,
		double	y,
		double	z
	)

Constructor to create a quaternion by directly setting its elements.

Member Function Documentation

get_euler_angles()

C3DDVector Quaternion::get_euler_angles

(

)

const

Returns

the Euler angles that correspond to the rotation described by this quaternion

get_rotation_matrix()

const C3DDMatrix Quaternion::get_rotation_matrix

(

)

const

inverse()

Quaternion Quaternion::inverse

(

)

const

Returns

the inverse of the quaternion assuming it is normalized

norm()

double Quaternion::norm

(

)

const

Returns

the norm of the quaternion

normalize()

void Quaternion::normalize

(

)

normalizes to quaternion

operator*=()

Quaternion& Quaternion::operator*=

(

const Quaternion &

other

)

in-place multiplication

Parameters

other

Returns

reference to the updated quaternion

operator+=()

Quaternion& Quaternion::operator+=

(

const Quaternion &

other

)

in-place adding

Parameters

other

Returns

reference to the updated quaternion

operator-=()

Quaternion& Quaternion::operator-=

(

const Quaternion &

other

)

in-place substraction

Parameters

other

Returns

reference to the updated quaternion

print()

void Quaternion::print

(

std::ostream &

os

)

const

Print the quaternion to an output stream

Parameters

os	the output stream

Referenced by operator<<().

w()

double Quaternion::w ( ) const

inline

Returns

the w- or $x_0$ component of the quaternion

Definition at line 159 of file quaternion.hh.

x()

double Quaternion::x ( ) const

inline

Returns

the x- or $x_1$ component of the quaternion

Definition at line 164 of file quaternion.hh.

y()

double Quaternion::y ( ) const

inline

Returns

the y- or $x_2$ component of the quaternion

Definition at line 169 of file quaternion.hh.

z()

double Quaternion::z ( ) const

inline

Returns

the z- or $x_3$ component of the quaternion

Definition at line 174 of file quaternion.hh.

Friends And Related Function Documentation

operator==

bool operator== ( const Quaternion &  a, const Quaternion &  b  )

friend

Parameters

a
b

Returns

true if the quaternions are element-wise equal

Field Documentation

_1

const Quaternion Quaternion::_1

static

Definition at line 148 of file quaternion.hh.

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The documentation for this class was generated from the following file:

• quaternion.hh