ACG::QuaternionT< Scalar > Class Template Reference

#include <ACG/Math/QuaternionT.hh>

Inheritance diagram for ACG::QuaternionT< Scalar >:

Public Types
typedef VectorT< Scalar, 4 >	Base
typedef QuaternionT< Scalar >	Quaternion
typedef VectorT< Scalar, 3 >	Vec3
typedef VectorT< Scalar, 4 >	Vec4
typedef Matrix4x4T< Scalar >	Matrix

Public Member Functions
	QuaternionT (Scalar _w=1.0, Scalar _x=0.0, Scalar _y=0.0, Scalar _z=0.0)
	construct from 4 Scalars (default)
	QuaternionT (const Vec3 &_p)
	construct from 3D point (pure imaginary quaternion)
	QuaternionT (const Vec4 &_p)
	construct from 4D vector
	QuaternionT (Vec3 _axis, Scalar _angle)
	construct from rotation axis and angle (in radians)
template<class MatrixT >
	QuaternionT (const MatrixT &_rot)
	construct from rotation matrix (only valid for rotation matrices!)
void	identity ()
	identity rotation
Quaternion	conjugate () const
	conjugate quaternion
Quaternion	invert () const
	invert quaternion
Quaternion	operator* (const Quaternion &_q) const
	quaternion * quaternion
Quaternion &	operator*= (const Quaternion &_q)
	quaternion *= quaternion
template<class Vec3T >
Vec3T	rotate (const Vec3T &_v) const
	rotate vector
void	axis_angle (Vec3 &_axis, Scalar &_angle) const
	get rotation axis and angle (only valid for unit quaternions!)
Matrix	rotation_matrix () const
	cast to rotation matrix
Matrix	right_mult_matrix () const
	get matrix for mult from right (p*q = Qp)
Matrix	left_mult_matrix () const
	get matrix for mult from left (q*p = Qp)
template<class MatrixT >
void	init_from_matrix (const MatrixT &_rot)
	get quaternion from rotation matrix
Quaternion	exponential () const
	quaternion exponential (for unit quaternions)
Quaternion	logarithm () const
	quaternion logarithm (for unit quaternions)
void	print_info ()

Additional Inherited Members
Related Functions inherited from OpenMesh::VectorT< Scalar, DIM >
template<typename Scalar1 , typename Scalar2 , int N>
VectorT< Scalar1, N >	operator* (Scalar2 _s, const VectorT< Scalar1, N > &_v)
template<typename Scalar , int N>
Scalar	dot (const VectorT< Scalar, N > &_v1, const VectorT< Scalar, N > &_v2)
template<typename Scalar , int N>
VectorT< Scalar, N >	cross (const VectorT< Scalar, N > &_v1, const VectorT< Scalar, N > &_v2)
template<typename Scalar , int DIM>
Scalar	dot (const VectorT< Scalar, DIM > &_v1, const VectorT< Scalar, DIM > &_v2)
template<typename LScalar , typename RScalar , int DIM>
auto	cross (const VectorT< LScalar, DIM > &_v1, const VectorT< RScalar, DIM > &_v2) -> decltype(_v1%_v2)
template<typename Scalar , int DIM>
void	swap (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2) noexcept(noexcept(_v1.swap(_v2)))
template<typename Scalar1 , typename Scalar2 , int N>
VectorT< Scalar1, N >	operator* (Scalar2 _s, const VectorT< Scalar1, N > &_v)
template<typename Scalar , int N>
Scalar	dot (const VectorT< Scalar, N > &_v1, const VectorT< Scalar, N > &_v2)
template<typename Scalar , int N>
VectorT< Scalar, N >	cross (const VectorT< Scalar, N > &_v1, const VectorT< Scalar, N > &_v2)

Detailed Description

template<class Scalar>
class ACG::QuaternionT< Scalar >

Quaternion class for representing rotations.

Definition at line 81 of file QuaternionT.hh.

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

• ACG/Math/QuaternionT.hh