This class implements a quaternion. More...

#include <CQuaternion.h>

Public Member Functions
	cQuaternion ()
	Constructor of cQuaternion. More...

	cQuaternion (double a_w, double a_x, double a_y, double a_z)
	Constructor of cQuaternion. More...

	cQuaternion (double const *in)
	Constructor of cQuaternion. More...

	operator double * ()
	Cast quaternion to a double*. More...

	operator double const * () const
	Cast quaternion to a double const*. More...

cQuaternion &	operator*= (cQuaternion const &a_quaternion)
	*= operator (Grassman product). More...

cQuaternion &	operator*= (double a_scale)
	*= operator. More...

cQuaternion &	operator+= (cQuaternion const &a_quaternion)
	+= operator. More...

cQuaternion &	operator-= (cQuaternion const &a_quaternion)
	-= operator. More...

bool	operator== (cQuaternion const &a_quaternion) const
	== operator. More...

void	zero ()
	This method clears this quaternion with zeros. More...

void	negate ()
	This method negates this quaternion. More...

double	magsq () const
	This method returns the squared value of the quaternion magnitude. More...

double	lengthsq () const
	This method returns the squared value of the quaternion magnitude. More...

double	mag () const
	This method returns the quaternion magnitude. More...

double	length () const
	This method returns the quaternion magnitude. More...

void	normalize ()
	This method normalizes this quaternion. More...

void	toRotMat (cMatrix3d &a_matrix) const
	This method convert this quaternion into a rotation matrix. More...

void	fromRotMat (cMatrix3d const &a_matrix)
	This method converts a rotation matrix into a quaternion. More...

void	fromAxisAngle (cVector3d a_axis, double a_angleRad)
	This method converts an axis-angle representation into a quaternion. More...

void	toAxisAngle (cVector3d &a_axis, double &a_angleRad) const
	This method converts a quaternion representation into an axis-angle representation. More...

void	conj ()
	This method computes the conjugate of this quaternion. More...

void	invert ()
	This method inverts this quaternion. More...

void	mul (cQuaternion const &a_quaternion)
	This method computes the multiplication of this quaternion with another quaternion. More...

void	mul (double a_scale)
	This method multiplies this quaternion by a scalar. More...

double	dot (cQuaternion const &a_quaternion) const
	This method computes the dot product between this quaternion and another quaternion. More...

void	add (cQuaternion const &a_quaternion)
	This method computes the addition between this quaternion and another passed as argument. More...

void	sub (cQuaternion const &a_quaternion)
	This method computes the subtraction between this quaternion and another passed as argument. More...

void	slerp (double a_level, cQuaternion const &a_quaternion0, cQuaternion a_quaternion1)
	This method computes a spherical linear interpolation between two quaternions (SLERP). More...

std::string	str (const unsigned int a_precision=2) const
	This method converts this quaternion into a string. More...

Public Attributes
double	w
	Component w of quaternion. More...

double	x
	Component x of quaternion. More...

double	y
	Component y of quaternion. More...

double	z
	Component z of quaternion. More...

Detailed Description

cQuaternion is a class that models quaternions and provides some basic operations.
Unit quaternions provide a convenient mathematical notation for representing orientations and rotations of objects in three dimensions. Compared to Euler angles they are simpler to compose and avoid the problem of gimbal lock.

Constructor & Destructor Documentation

chai3d::cQuaternion::cQuaternion ( )

inline

chai3d::cQuaternion::cQuaternion	(	double	a_w,
		double	a_x,
		double	a_y,
		double	a_z
	)

inline

chai3d::cQuaternion::cQuaternion ( double const * in )

inline

Member Function Documentation

chai3d::cQuaternion::operator double * ( )

inline

chai3d::cQuaternion::operator double const * ( ) const

inline

cQuaternion& chai3d::cQuaternion::operator*= ( cQuaternion const & a_quaternion )

inline

cQuaternion& chai3d::cQuaternion::operator*= ( double a_scale )

inline

cQuaternion& chai3d::cQuaternion::operator+= ( cQuaternion const & a_quaternion )

inline

cQuaternion& chai3d::cQuaternion::operator-= ( cQuaternion const & a_quaternion )

inline

bool chai3d::cQuaternion::operator== ( cQuaternion const & a_quaternion ) const

inline

void chai3d::cQuaternion::zero ( )

inline

void chai3d::cQuaternion::negate ( )

inline

double chai3d::cQuaternion::magsq ( ) const

inline

double chai3d::cQuaternion::lengthsq ( ) const

inline

double chai3d::cQuaternion::mag ( ) const

inline

double chai3d::cQuaternion::length ( ) const

inline

void chai3d::cQuaternion::normalize ( )

inline

void chai3d::cQuaternion::toRotMat ( cMatrix3d & a_matrix ) const

inline

This method convert this quaternion into a rotation matrix passed as argument a_matrix.
The result is stored in matrix a_matrix past as argument.

Parameters

a_matrix Result of operation.

void chai3d::cQuaternion::fromRotMat ( cMatrix3d const & a_matrix )

inline

This method converts a rotation matrix into a quaternion.
The result of this operation is stored in this quaternion.

Parameters

a_matrix Input rotation matrix.

void chai3d::cQuaternion::fromAxisAngle	(	cVector3d	a_axis,
		double	a_angleRad
	)

inline

This method converts an axis-angle representation into a quaternion.
The result of this operation is stored in current quaternion.

Parameters

a_axis	Axis vector.
a_angleRad	Angle in radians.

void chai3d::cQuaternion::toAxisAngle	(	cVector3d &	a_axis,
		double &	a_angleRad
	)		const

inline

This method converts a quaternion representation into an axis-angle representation
. The result of this operation is stored in both arguments a_axis and a_angleRad.

Parameters

a_axis	Output result axis vector.
a_angleRad	Output result angle in radians.

void chai3d::cQuaternion::conj ( )

inline

This method computes the conjugate of this quaternion.
The result of this operation is stored in this quaternion.

void chai3d::cQuaternion::invert ( )

inline

This method inverts this quaternion. The inverse of a quaternion is equal to conjugate/magsq .
The result of this operation is stored in this quaternion.

void chai3d::cQuaternion::mul ( cQuaternion const & a_quaternion )

inline

This method computes the multiplication of this quaternion with another quaternion passed as argument a_quaternion.
The result of this operation is stored in this quaternion.

Parameters

a_quaternion Input quaternion.

void chai3d::cQuaternion::mul ( double a_scale )

inline

This method scales this quaternion by a scalar a_scale passed as argument.
The result of this operation is stored in this quaternion.

Parameters

a_scale Scale factor.

double chai3d::cQuaternion::dot ( cQuaternion const & a_quaternion ) const

inline

This method computes and returns the dot product between this quaternion and another quaternion a_quaternion passed as argument.

Parameters

a_quaternion Input quaternion.

Returns: Dot product between both quaternions.

void chai3d::cQuaternion::add ( cQuaternion const & a_quaternion )

inline

This method computes the addition between this quaternion and another a_quaternion passed as argument.
The result of this operation is stored in this quaternion.

Parameters

a_quaternion Input quaternion.

void chai3d::cQuaternion::sub ( cQuaternion const & a_quaternion )

inline

This method computes the subtraction between this quaternion and another a_quaternion passed as argument.
The result of this operation is stored in this quaternion.

Parameters

a_quaternion Input quaternion.

void chai3d::cQuaternion::slerp	(	double	a_level,
		cQuaternion const &	a_quaternion0,
		cQuaternion	a_quaternion1
	)

inline

This method computes a spherical linear interpolation between two quaternions (SLERP) passed by argument as _a_quaternion0 and a_quaternion1.
The interpolation value a_level is set between 0.0 (fully at a_quaternion0) and 1.0 (fully at a_quaternion1)
The result of this operation is stored in this quaternion.

Parameters

a_level	Interpolation value.
a_quaternion0	Starting quaternion.
a_quaternion1	Ending quaternion.

std::string chai3d::cQuaternion::str ( const unsigned int a_precision = 2 ) const

inline

This method converts this quaternion into a string. The number of digits after the decimal point are set by argument a_precision.

Parameters

a_precision Number of digits.

Returns: Converted quaternion in string format.

Member Data Documentation

double chai3d::cQuaternion::w

double chai3d::cQuaternion::x

double chai3d::cQuaternion::y

double chai3d::cQuaternion::z

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

CQuaternion.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation