QuaternionAndTranslation Class Reference

List of all members.

Public Member Functions
	QuaternionAndTranslation (const Matrix4D &m)
	QuaternionAndTranslation (const Matrix4D &m, const QuaternionAndTranslation &quat)
QuaternionAndTranslation	operator- (void) const
QuaternionAndTranslation	operator * (double scale) const
QuaternionAndTranslation &	operator *= (double scale)
QuaternionAndTranslation	operator/ (double scale) const
QuaternionAndTranslation &	operator/= (double scale)
QuaternionAndTranslation	operator+ (const QuaternionAndTranslation &q) const
QuaternionAndTranslation &	operator+= (const QuaternionAndTranslation &q)
QuaternionAndTranslation	operator- (const QuaternionAndTranslation &q) const
QuaternionAndTranslation &	operator-= (const QuaternionAndTranslation &q)
Public Attributes
Quaternion	quaternion
Point3D	translate

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Detailed Description

This class represents a transformation by a quaternion and a translation

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Constructor & Destructor Documentation

QuaternionAndTranslation::QuaternionAndTranslation (  const Matrix4D &  m  )

This constructor sets the quaternion and translation vector from the transformation matrix

QuaternionAndTranslation::QuaternionAndTranslation (  const Matrix4D &  m, const QuaternionAndTranslation &  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

QuaternionAndTranslation QuaternionAndTranslation::operator * (  double  scale  )  const

This method scales the transformation parameters.

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

This method scales the current transformation parameters by a constant factor.

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

This method adds two sets of transformation parameters and returns their sum.

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

This method adds a set of transformation parameters to the current transformation parameters.

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

This method subtracts two sets of transformation parameters and returns their difference.

QuaternionAndTranslation QuaternionAndTranslation::operator- (  void   )  const

This method returns the negative of the transformation parameters

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

This method subtracts a set of transformation parameters from the current transformation parameters.

QuaternionAndTranslation QuaternionAndTranslation::operator/ (  double  scale  )  const

This method divides the coefficients of a the transformation parameters by a constant factor.

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

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

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Member Data Documentation

Quaternion QuaternionAndTranslation::quaternion

The rotation

Point3D QuaternionAndTranslation::translate

The translation vector

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