4D quaternion class for storing rotation values More...

#include <Quaternion.h>

Public Types
using	Real = float
	Default scalar type. More...

Public Member Functions
	Quaternion ()=default
	Default constructor. More...

constexpr	Quaternion (const Real w, const Real x, const Real y, const Real z)
	Construct from individual components. More...

constexpr	Quaternion (const Real inQ[4])
	Construct from array. More...

	Quaternion (float w, const Vector3 &vec)
	Create a quaternion out of W and a vector. More...

	operator Real * ()
	Conversion operator. More...

	operator const Real * () const
	Conversion operator. More...

Quaternion	operator* (const Quaternion &inQ) const

Quaternion	operator* (const Real r) const

Quaternion	operator/ (const Real r) const

void	operator*= (const Real r)

Quaternion	operator+ (const Quaternion &inQ) const

void	operator+= (const Quaternion &inQ)

Real	Norm () const
	"Length" of the quaternion More...

void	Normalise ()
	Scale quaternion so that the norm is 1. More...

Quaternion	Normalized () const

Quaternion	Conjugate () const
	Conjugate of the quaternion. More...

Quaternion	Inverse () const

Real	W () const

Real	X () const

Real	Y () const

Real	Z () const

Static Public Member Functions
static Quaternion	FromAngles (float x, float y)

static Quaternion	FromAngles (float heading, float attitude, float bank)

static Quaternion	FromAxisAndAngle (const Vector3 &axis, float angle)

static Quaternion	RotationX (float angle)

static Quaternion	RotationY (float angle)

static Quaternion	RotationZ (float angle)

static Quaternion	Slerp (const Quaternion &p, const Quaternion &q, float beta)
	Spherical Linear Interpolation. More...

Public Attributes
Real	q [4]
	wxyz More...

Static Public Attributes
static const Quaternion	kIdentity = Quaternion(1,0,0,0)
	Identity constant. More...

Detailed Description

4D quaternion class for storing rotation values

Member Typedef Documentation

using molecular::util::Quaternion::Real = float

Default scalar type.

Constructor & Destructor Documentation

molecular::util::Quaternion::Quaternion ( )

default

Default constructor.

Does not initialize the quaternion to identity!

constexpr molecular::util::Quaternion::Quaternion	(	const Real	w,
		const Real	x,
		const Real	y,
		const Real	z
	)

Construct from individual components.

constexpr molecular::util::Quaternion::Quaternion ( const Real inQ[4] )

Construct from array.

Order WXYZ.

molecular::util::Quaternion::Quaternion	(	float	w,
		const Vector3 &	vec
	)

inline

Create a quaternion out of W and a vector.

Member Function Documentation

Quaternion molecular::util::Quaternion::Conjugate ( ) const

inline

Conjugate of the quaternion.

For normalised quaternions (like most rotation quaternions), this is equal to the inverse, but calculation is faster.

See also: Inverse()

Quaternion molecular::util::Quaternion::FromAngles	(	float	x,
		float	y
	)

inlinestatic

Quaternion molecular::util::Quaternion::FromAngles	(	float	heading,
		float	attitude,
		float	bank
	)

static

Quaternion molecular::util::Quaternion::FromAxisAndAngle	(	const Vector3 &	axis,
		float	angle
	)

inlinestatic

Quaternion molecular::util::Quaternion::Inverse ( ) const

inline

The inverse of a quaternion represents the opposite rotation (like an inverse matrix). For quaternions known to be normalised consider using Conjugate() instead, since it yields the same results but calculation is faster.

See also: Conjugate()

Real molecular::util::Quaternion::Norm ( ) const

inline

"Length" of the quaternion

void molecular::util::Quaternion::Normalise ( )

inline

Scale quaternion so that the norm is 1.

Quaternion molecular::util::Quaternion::Normalized ( ) const

inline

molecular::util::Quaternion::operator const Real * ( ) const

inline

Conversion operator.

molecular::util::Quaternion::operator Real * ( )

inline

Conversion operator.

Quaternion molecular::util::Quaternion::operator* ( const Quaternion & inQ ) const

inline

Quaternion molecular::util::Quaternion::operator* ( const Real r ) const

inline

void molecular::util::Quaternion::operator*= ( const Real r )

inline

Quaternion molecular::util::Quaternion::operator+ ( const Quaternion & inQ ) const

inline

void molecular::util::Quaternion::operator+= ( const Quaternion & inQ )

inline

Quaternion molecular::util::Quaternion::operator/ ( const Real r ) const

inline

Quaternion molecular::util::Quaternion::RotationX ( float angle )

inlinestatic

Quaternion molecular::util::Quaternion::RotationY ( float angle )

inlinestatic

Quaternion molecular::util::Quaternion::RotationZ ( float angle )

inlinestatic

Quaternion molecular::util::Quaternion::Slerp	(	const Quaternion &	p,
		const Quaternion &	q,
		float	beta
	)

static

Spherical Linear Interpolation.

Real molecular::util::Quaternion::W ( ) const

inline

Real molecular::util::Quaternion::X ( ) const

inline

Real molecular::util::Quaternion::Y ( ) const

inline

Real molecular::util::Quaternion::Z ( ) const

inline

Member Data Documentation

const Quaternion molecular::util::Quaternion::kIdentity = Quaternion(1,0,0,0)

static

Identity constant.

Real molecular::util::Quaternion::q[4]

wxyz

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

/home/travis/build/cmdrf/molecular/molecular-util/molecular/util/Quaternion.h
/home/travis/build/cmdrf/molecular/molecular-util/molecular/util/Quaternion.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation