csQuaternion Class Reference
[Geometry utilities]
Class for a quaternion. More...
#include <csgeom/quaternion.h>
Detailed Description
Class for a quaternion.
A SE3 rotation represented as a normalized quaternion
- See also:
- csDualQuaternion
Definition at line 42 of file quaternion.h.
Constructor & Destructor Documentation
Initialize with identity.
Definition at line 48 of file quaternion.h.
Initialize with given values. Does not normalize.
Definition at line 53 of file quaternion.h.
Construct from a vector and given w value.
Definition at line 58 of file quaternion.h.
Copy-constructor.
Definition at line 63 of file quaternion.h.
Member Function Documentation
Set this quaternion to its own conjugate.
Definition at line 187 of file quaternion.h.
Return euclidian inner-product (dot).
Definition at line 193 of file quaternion.h.
Get the exponential of this quaternion.
Get a quaternion as axis-angle representation.
- Parameters:
-
Definition at line 251 of file quaternion.h.
Get the conjugate quaternion.
Definition at line 181 of file quaternion.h.
Get quaternion as three Euler angles X, Y, Z, expressed in radians.
Get quaternion as a 3x3 rotation matrix.
Get the logarithm of this quaternion.
Interpolate this quaternion with another using normalized linear interpolation (nlerp) using given interpolation factor.
Get the norm of this quaternion.
Definition at line 205 of file quaternion.h.
Multiply by scalar.
Definition at line 148 of file quaternion.h.
Multiply this quaternion by another.
Definition at line 127 of file quaternion.h.
Add quaternion to this one.
Definition at line 92 of file quaternion.h.
Subtract quaternion from this one.
Definition at line 106 of file quaternion.h.
Divide by scalar.
Definition at line 171 of file quaternion.h.
Rotate vector by quaternion.
Definition at line 223 of file quaternion.h.
Set the components.
Definition at line 70 of file quaternion.h.
Set a quaternion using axis-angle representation.
- Parameters:
-
Definition at line 238 of file quaternion.h.
Set quaternion using Euler angles X, Y, Z, expressed in radians.
Set quaternion to identity rotation.
Definition at line 79 199 215 of file quaternion.h.
Friends And Related Function Documentation
Multiply by scalar.
Definition at line 142 of file quaternion.h.
Multiply by scalar.
Definition at line 136 of file quaternion.h.
Multiply two quaternions, Grassmann product.
Definition at line 119 of file quaternion.h.
Add two quaternions.
Definition at line 85 of file quaternion.h.
Get the negative quaternion (unary minus).
Definition at line 113 of file quaternion.h.
Subtract two quaternions.
Definition at line 99 of file quaternion.h.
Divide by scalar.
Definition at line 164 of file quaternion.h.
Divide by scalar.
Definition at line 157 of file quaternion.h.
Member Data Documentation
x, y and z components of the quaternion
Definition at line 311 of file quaternion.h.
w component of the quaternion
Definition at line 314 of file quaternion.h.
The documentation for this class was generated from the following file:
- csgeom/quaternion.h
Generated for Crystal Space 2.0 by doxygen 1.6.1