Quaternion Class Reference

List of all members.

Public Member Functions
	Quaternion (void)
	Quaternion (double r, const Point3D &i)
	Quaternion (const Matrix3D &rot)
	Quaternion (const Matrix3D &rot, const Quaternion &quat)
	Quaternion (const Point3D &eulerAngle, const Quaternion &quat)
double	dot (const Quaternion &q) const
double	length (void) const
double	squareNorm (void) const
Quaternion	unit (void) const
Quaternion	operator- (void) const
Quaternion	conjugate (void) const
Quaternion	invert (void) const
Quaternion	operator * (double scale) const
Quaternion &	operator *= (double scale)
Quaternion	operator/ (double scale) const
Quaternion &	operator/= (double scale)
Quaternion	operator+ (const Quaternion &q) const
Quaternion &	operator+= (const Quaternion &q)
Quaternion	operator- (const Quaternion &q) const
Quaternion &	operator-= (const Quaternion &q)
Quaternion	operator * (const Quaternion &q) const
Quaternion &	operator *= (const Quaternion &q)
Quaternion	operator/ (const Quaternion &q) const
Quaternion &	operator/= (const Quaternion &q)
Public Attributes
double	real
Point3D	imag

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Detailed Description

This class represents a quaternion

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Constructor & Destructor Documentation

Quaternion::Quaternion (  void   )

This constructor generates the identity quaternion.

Quaternion::Quaternion (  double  r, const Point3D &  i )

This constructor generates a quaternion with real value r and imaginary components i.

Quaternion::Quaternion (  const Matrix3D &  rot  )

This constructor generates a quaternion corresponding to the 3x3 rotation matrix.

Quaternion::Quaternion (  const Matrix3D &  rot, const Quaternion &  quat )

Because the quaternion of a rotation is unique up to sign, the following method sets the quaternion so that it is closest to the input ones

Quaternion::Quaternion (  const Point3D &  eulerAngle, const Quaternion &  quat )

Because the quaternion of a rotation is unique up to sign, the following method sets the quaternion so that it is closest to the input ones

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Member Function Documentation

Quaternion Quaternion::conjugate (  void   )  const

This method returns the complex conjugate of a quaternion

double Quaternion::dot (  const Quaternion &  q  )  const

This method returns the dot product of two quaternions.

Quaternion Quaternion::invert (  void   )  const

This method returns the reciprocal of a quaternion.

double Quaternion::length (  void   )  const

This method returns the length of a quaternion.

Quaternion Quaternion::operator * (  const Quaternion &  q  )  const

This method returns the product of two quaternions.

Quaternion Quaternion::operator * (  double  scale  )  const

This method scales a quaternion by a constant factor and returns a new quaternion.

Quaternion & Quaternion::operator *= (  const Quaternion &  q  )

This method multiplies the current quaternion by another quaternion.

Quaternion & Quaternion::operator *= (  double  scale  )

This method scales the current quaternion by a constant factor.

Quaternion Quaternion::operator+ (  const Quaternion &  q  )  const

This method adds two quaternion and returns their sum.

Quaternion & Quaternion::operator+= (  const Quaternion &  q  )

This method adds a point to the current quaternion.

Quaternion Quaternion::operator- (  const Quaternion &  q  )  const

This method subtracts two quaternion and returns their difference.

Quaternion Quaternion::operator- (  void   )  const

This method return the negative of the quaternion.

Quaternion & Quaternion::operator-= (  const Quaternion &  q  )

This method subtracts a quaternion from the current quaternion.

Quaternion Quaternion::operator/ (  const Quaternion &  q  )  const

This method returns the quotient of two quaternions.

Quaternion Quaternion::operator/ (  double  scale  )  const

This method divides the coefficients of a quaternion by a constant factor and returns a new quaternion.

Quaternion & Quaternion::operator/= (  const Quaternion &  q  )

This method divides the current quaternion by another quaternion.

Quaternion & Quaternion::operator/= (  double  scale  )

This method divides the coefficients of the current quaternion by a constant factor.

double Quaternion::squareNorm (  void   )  const

This method returns the square of the length of a quaternion.

Quaternion Quaternion::unit (  void   )  const

This method returns a unit vector that points in the same direction as the quaternion.

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Member Data Documentation

Point3D Quaternion::imag

The imaginary components of the quaternion

double Quaternion::real

The real component of the quaternion

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