deQuaternion Class Reference

Quaternion classThis is a C++ wrapper class of deQuaternionf. More...

#include <TaoDeQuaternion.h>

Public Member Functions
	deQuaternion ()
	deQuaternion (deFloat qx, deFloat qy, deFloat qz, deFloat qw)
	deQuaternion (deQuaternion const &orig)
	operator deFloat * ()
	cast operator More...
	operator const deFloat * () const
	cast operator More...
deFloat &	operator[] (const deInt i)
const deFloat &	operator[] (const deInt i) const
DE_MATH_API void	operator= (const deQuaternion &q)
	this = q More...
DE_MATH_API deInt	operator== (const deQuaternion &q)
DE_MATH_API void	operator+= (const deQuaternion &q)
	this[i] += q[i] More...
DE_MATH_API void	operator-= (const deQuaternion &q)
	this[i] -= q[i] More...
DE_MATH_API void	operator*= (const deFloat s)
	this[i] *= s More...
DE_MATH_API void	identity ()
	this = (0, 0, 0, 1) More...
DE_MATH_API void	zero ()
	this = (0, 0, 0, 0) More...
DE_MATH_API deFloat	dot (const deQuaternion &q)
	return this^T * q More...
DE_MATH_API void	normalize ()
	this[i] *= (1 / sqrt(this^T * this)) More...
DE_MATH_API void	get (deVector3 &axis, deFloat &angle) const
	convert to axis-angle notation More...
DE_MATH_API void	set (const deMatrix3 &m)
	this = m More...
DE_MATH_API void	set (const deInt axis, const deFloat angle)
	this = (axis, angle) More...
DE_MATH_API void	set (const deVector3 &axis, const deFloat angle)
	this = (axis, angle) More...
DE_MATH_API void	set (const deFloat x, const deFloat y, const deFloat z, const deFloat w)
	this = (x, y, z, q) More...
DE_MATH_API void	set (const deFloat *q)
	this = [x y z q] More...
DE_MATH_API void	eulerZYX (const deVector3 &v)
	this = [x, y, z] = ZYX Euler angles More...
DE_MATH_API void	negate (const deQuaternion &q)
	this = -q More...
DE_MATH_API void	inverse (const deQuaternion &q)
	this = q^-1 More...
DE_MATH_API void	add (const deQuaternion &q1, const deQuaternion &q2)
	this = q1 + q2 More...
DE_MATH_API void	subtract (const deQuaternion &q1, const deQuaternion &q2)
	this = q1 - q2 More...
DE_MATH_API void	multiply (const deQuaternion &q1, const deQuaternion &q2)
	this = q1 * q2 More...
DE_MATH_API void	inversedMultiply (const deQuaternion &q1, const deQuaternion &q2)
	this = q1^-1 * q2 More...
DE_MATH_API void	multiplyInversed (const deQuaternion &q1, const deQuaternion &q2)
	this = q1 * q2^-1 More...
DE_MATH_API void	velocity (const deQuaternion &q, const deVector3 &omega)
	this = dq More...
DE_MATH_API void	consistentSign (const deQuaternion &q, const deQuaternion &qg)
	this = converted qg sign consitent to q More...
DE_MATH_API void	slerp (const deQuaternion &q, const deQuaternion &qg, const deFloat t, const deFloat addedSpins)
	this = SLERP (spherical linear interpolation with extra spins) More...
DE_MATH_API void	lerp (const deQuaternion &q, const deQuaternion &qg, const deFloat t)
	this = q + t * (qg - q) More...

Private Attributes
deFloat	_data [DE_QUATERNION_SIZE]

Detailed Description

Quaternion class

This is a C++ wrapper class of deQuaternionf.

Remarks

q = [vx, vy, vz, w] = [axis*sin(theta/2), cos(theta/2)] <— axisAngle(axis,theta). quaternion is used to represent rotation in deFrame.

See Also

deQuaternionf.h, deFrame

Constructor & Destructor Documentation

deQuaternion::deQuaternion ( )

inline

Default ctor calls identity() on itself.

deQuaternion::deQuaternion ( deFloat  qx, deFloat  qy, deFloat  qz, deFloat  qw  )

inline

Initialization from the four quaternion values.

Member Function Documentation

DE_MATH_API void deQuaternion::add	(	const deQuaternion &	q1,
		const deQuaternion &	q2
	)

this = q1 + q2

DE_MATH_API void deQuaternion::consistentSign	(	const deQuaternion &	q,
		const deQuaternion &	qg
	)

this = converted qg sign consitent to q

Remarks

this funtion compares q to qg and put sign consistent qg to this (= qg or -qg).

(q is equivalent to -q) for all angles (theta) where q = [cos(theta/2), v*sin(theta/2)]

DE_MATH_API deFloat deQuaternion::dot

(

const deQuaternion &

q

)

return this^T * q

DE_MATH_API void deQuaternion::eulerZYX

(

const deVector3 &

v

)

this = [x, y, z] = ZYX Euler angles

DE_MATH_API void deQuaternion::get	(	deVector3 &	axis,
		deFloat &	angle
	)		const

convert to axis-angle notation

DE_MATH_API void deQuaternion::identity

(

)

this = (0, 0, 0, 1)

DE_MATH_API void deQuaternion::inverse

(

const deQuaternion &

q

)

this = q^-1

DE_MATH_API void deQuaternion::inversedMultiply	(	const deQuaternion &	q1,
		const deQuaternion &	q2
	)

this = q1^-1 * q2

DE_MATH_API void deQuaternion::lerp	(	const deQuaternion &	q,
		const deQuaternion &	qg,
		const deFloat	t
	)

this = q + t * (qg - q)

Remarks

this = LERP (linear interpolation)

DE_MATH_API void deQuaternion::multiply	(	const deQuaternion &	q1,
		const deQuaternion &	q2
	)

this = q1 * q2

DE_MATH_API void deQuaternion::multiplyInversed	(	const deQuaternion &	q1,
		const deQuaternion &	q2
	)

this = q1 * q2^-1

DE_MATH_API void deQuaternion::negate

(

const deQuaternion &

q

)

this = -q

DE_MATH_API void deQuaternion::normalize

(

)

this[i] *= (1 / sqrt(this^T * this))

deQuaternion::operator const deFloat * ( ) const

inline

cast operator

deQuaternion::operator deFloat * ( )

inline

cast operator

DE_MATH_API void deQuaternion::operator*=

(

const deFloat

s

)

this[i] *= s

DE_MATH_API void deQuaternion::operator+=

(

const deQuaternion &

q

)

this[i] += q[i]

DE_MATH_API void deQuaternion::operator-=

(

const deQuaternion &

q

)

this[i] -= q[i]

DE_MATH_API void deQuaternion::operator=

(

const deQuaternion &

q

)

this = q

DE_MATH_API deInt deQuaternion::operator==

(

const deQuaternion &

q

)

Returns

(this == q )

deFloat& deQuaternion::operator[] ( const deInt  i )

inline

Returns

q[i]

const deFloat& deQuaternion::operator[] ( const deInt  i ) const

inline

Returns

const q[i]

DE_MATH_API void deQuaternion::set

(

const deMatrix3 &

m

)

this = m

DE_MATH_API void deQuaternion::set	(	const deInt	axis,
		const deFloat	angle
	)

this = (axis, angle)

DE_MATH_API void deQuaternion::set	(	const deVector3 &	axis,
		const deFloat	angle
	)

this = (axis, angle)

DE_MATH_API void deQuaternion::set	(	const deFloat	x,
		const deFloat	y,
		const deFloat	z,
		const deFloat	w
	)

this = (x, y, z, q)

DE_MATH_API void deQuaternion::set

(

const deFloat *

q

)

this = [x y z q]

DE_MATH_API void deQuaternion::slerp	(	const deQuaternion &	q,
		const deQuaternion &	qg,
		const deFloat	t,
		const deFloat	addedSpins
	)

this = SLERP (spherical linear interpolation with extra spins)

DE_MATH_API void deQuaternion::subtract	(	const deQuaternion &	q1,
		const deQuaternion &	q2
	)

this = q1 - q2

DE_MATH_API void deQuaternion::velocity	(	const deQuaternion &	q,
		const deVector3 &	omega
	)

this = dq

DE_MATH_API void deQuaternion::zero

(

)

this = (0, 0, 0, 0)

---

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

• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeQuaternion.h
• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeQuaternionInl.h