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Public Types | Public Member Functions | List of all members
ACG::QuaternionT< Scalar > Class Template Reference

`#include <OpenFlipper/libs_required/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 Types inherited from OpenMesh::VectorT< Scalar, DIM >
typedef Scalar | value_type
| the type of the scalar used in this template
typedef VectorT< Scalar, DIM > | vector_type
| type of this vector
using | iterator = typename container::iterator
using | const_iterator = typename container::const_iterator
using | reverse_iterator = typename container::reverse_iterator
using | const_reverse_iterator = typename container::const_reverse_iterator

## 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 ()
Public Member Functions inherited from OpenMesh::VectorT< Scalar, DIM >
template<typename T , typename ... Ts, typename = typename std::enable_if<sizeof...(Ts)+1 == DIM>::type, typename = typename std::enable_if< are_convertible_to<Scalar, T, Ts...>::value>::type>
constexpr | VectorT (T v, Ts... vs)
constexpr | VectorT ()
| default constructor creates uninitialized values.
| VectorT (const Scalar &v)
| VectorT (const VectorT &rhs)=default
| VectorT (VectorT &&rhs)=default
VectorT & | operator= (const VectorT &rhs)=default
VectorT & | operator= (VectorT &&rhs)=default
template<typename S = Scalar, int D = DIM>
auto | homogenized () const -> typename std::enable_if< D==4, VectorT< decltype(std::declval< S >()/std::declval< S >()), DIM >>::type
template<typename Iterator , typename = decltype( *std::declval<Iterator&>(), void(), ++std::declval<Iterator&>(), void())>
| VectorT (Iterator it)
| construct from a value array or any other iterator
| VectorT (container &&_array)
| construct from an array
template<typename otherScalarType , typename = typename std::enable_if< std::is_convertible<otherScalarType, Scalar>::value>>
| VectorT (const VectorT< otherScalarType, DIM > &_rhs)
| copy & cast constructor (explicit)
template<typename OtherScalar , typename = typename std::enable_if< std::is_convertible<OtherScalar, Scalar>::value>>
vector_type & | operator= (const VectorT< OtherScalar, DIM > &_rhs)
| cast from vector with a different scalar type
Scalar * | data ()
| access to Scalar array
const Scalar * | data () const
| access to const Scalar array
Scalar & | operator[] (size_t _i)
| get i'th element read-write
const Scalar & | operator[] (size_t _i) const
| get i'th element read-only
bool | operator== (const vector_type &_rhs) const
| component-wise comparison
bool | operator!= (const vector_type &_rhs) const
| component-wise comparison
template<typename OtherScalar >
auto | operator*= (const OtherScalar &_s) -> typename std::enable_if< std::is_convertible< decltype(this->values_[0] *_s), Scalar >::value, VectorT< Scalar, DIM > &>::type
| component-wise self-multiplication with scalar
template<typename OtherScalar >
auto | operator/= (const OtherScalar &_s) -> typename std::enable_if< std::is_convertible< decltype(this->values_[0]/_s), Scalar >::value, VectorT< Scalar, DIM > &>::type
| component-wise self-division by scalar
template<typename OtherScalar >
std::enable_if< std::is_convertible< decltype(std::declval< Scalar >) *std::declval< OtherScalar >)), Scalar >::value, VectorT< Scalar, DIM > >::type | operator* (const OtherScalar &_s) const
| component-wise multiplication with scalar
template<typename OtherScalar >
std::enable_if< std::is_convertible< decltype(std::declval< Scalar >)/std::declval< OtherScalar >)), Scalar >::value, VectorT< Scalar, DIM > >::type | operator/ (const OtherScalar &_s) const
| component-wise division by with scalar
template<typename OtherScalar >
auto | operator*= (const VectorT< OtherScalar, DIM > &_rhs) -> typename std::enable_if< sizeof(decltype(this->values_[0] **_rhs.data())) >=0
| component-wise self-multiplication
template<typename OtherScalar >
auto | operator/= (const VectorT< OtherScalar, DIM > &_rhs) -> typename std::enable_if< sizeof(decltype(this->values_[0]/*_rhs.data())) >=0
| component-wise self-division
template<typename OtherScalar >
auto | operator-= (const VectorT< OtherScalar, DIM > &_rhs) -> typename std::enable_if< sizeof(decltype(this->values_[0] - *_rhs.data())) >=0
| vector difference from this
template<typename OtherScalar >
auto | operator+= (const VectorT< OtherScalar, DIM > &_rhs) -> typename std::enable_if< sizeof(decltype(this->values_[0]+ *_rhs.data())) >=0
| vector self-addition
template<typename OtherScalar >
auto | operator* (const VectorT< OtherScalar, DIM > &_rhs) const -> typename std::enable_if< sizeof(decltype(this->values_[0] **_rhs.data())) >=0
| component-wise vector multiplication
template<typename OtherScalar >
auto | operator/ (const VectorT< OtherScalar, DIM > &_rhs) const -> typename std::enable_if< sizeof(decltype(this->values_[0]/*_rhs.data())) >=0
| component-wise vector division
template<typename OtherScalar >
auto | operator+ (const VectorT< OtherScalar, DIM > &_rhs) const -> typename std::enable_if< sizeof(decltype(this->values_[0]+ *_rhs.data())) >=0
| component-wise vector addition
template<typename OtherScalar >
auto | operator- (const VectorT< OtherScalar, DIM > &_rhs) const -> typename std::enable_if< sizeof(decltype(this->values_[0] - *_rhs.data())) >=0
| component-wise vector difference
vector_type | operator- (void) const
| unary minus
template<typename OtherScalar >
auto | operator% (const VectorT< OtherScalar, DIM > &_rhs) const -> typename std::enable_if< DIM==3, VectorT< decltype((*this)[0] *_rhs[0] -(*this)[0] *_rhs[0]), DIM >>::type
template<typename OtherScalar >
auto | operator| (const VectorT< OtherScalar, DIM > &_rhs) const -> decltype(*this->data() **_rhs.data())
template<typename Functor >
vector_type | apply (const Functor &_func) const
| component-wise apply function object with Scalar operator()(Scalar).
vector_type & | vectorize (const Scalar &_s)
| store the same value in each component (e.g. to clear all entries)
bool | operator< (const vector_type &_rhs) const
| lexicographical comparison
void | swap (VectorT &_other) noexcept(noexcept(std::swap(values_, _other.values_)))
| swap with another vector
template<typename S = Scalar>
decltype(std::declval< S >() *std::declval< S >()) | sqrnorm () const
| compute squared euclidean norm
template<typename S = Scalar>
auto | norm () const -> decltype(std::sqrt(std::declval< VectorT< S, DIM >>().sqrnorm()))
| compute euclidean norm
template<typename S = Scalar>
auto | length () const -> decltype(std::declval< VectorT< S, DIM >>().norm())
| compute squared euclidean norm
template<typename S = Scalar>
auto | normalize () -> decltype(*this/=std::declval< VectorT< S, DIM >>().norm())
template<typename S = Scalar>
auto | normalized () const -> decltype(*this/std::declval< VectorT< S, DIM >>().norm())
template<typename S = Scalar>
vector_type &::type | normalize_cond ()
| compute squared euclidean norm
Scalar | l1_norm () const
| compute L1 (Manhattan) norm
Scalar | l8_norm () const
| compute l8_norm
Scalar | max () const
| return the maximal component
Scalar | max_abs () const
| return the maximal absolute component
Scalar | min () const
| return the minimal component
Scalar | min_abs () const
| return the minimal absolute component
Scalar | mean () const
| return arithmetic mean
Scalar | mean_abs () const
| return absolute arithmetic mean
vector_type & | minimize (const vector_type &_rhs)
| minimize values: same as *this = min(*this, _rhs), but faster
bool | minimized (const vector_type &_rhs)
| minimize values and signalize coordinate minimization
vector_type & | maximize (const vector_type &_rhs)
| maximize values: same as *this = max(*this, _rhs), but faster
bool | maximized (const vector_type &_rhs)
| maximize values and signalize coordinate maximization
vector_type | min (const vector_type &_rhs) const
| component-wise min
vector_type | max (const vector_type &_rhs) const
| component-wise max
iterator | begin () noexcept
const_iterator | begin () const noexcept
const_iterator | cbegin () const noexcept
iterator | end () noexcept
const_iterator | end () const noexcept
const_iterator | cend () const noexcept
reverse_iterator | rbegin () noexcept
const_reverse_iterator | rbegin () const noexcept
const_reverse_iterator | crbegin () const noexcept
reverse_iterator | rend () noexcept
const_reverse_iterator | rend () const noexcept
const_reverse_iterator | crend () const noexcept

## Additional Inherited Members
Static Public Member Functions inherited from OpenMesh::VectorT< Scalar, DIM >
static constexpr int | dim ()
| returns dimension of the vector (deprecated)
static constexpr size_t | size ()
| returns dimension of the vector
static vector_type | vectorized (const Scalar &_s)
| store the same value in each component
Static Public Attributes inherited from OpenMesh::VectorT< Scalar, DIM >
static constexpr const size_t | size_ = DIM
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 | norm (const VectorT< Scalar, DIM > &_v)
template<typename Scalar , int DIM>
Scalar | sqrnorm (const VectorT< Scalar, DIM > &_v)
template<typename Scalar , int DIM, typename OtherScalar >
VectorT< Scalar, DIM > & | vectorize (VectorT< Scalar, DIM > &_v, OtherScalar const &_val)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > & | normalize (VectorT< Scalar, DIM > &_v)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > & | maximize (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > & | minimize (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > | max (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > | min (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_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 Scalar , int DIM>
Scalar | norm (const VectorT< Scalar, DIM > &_v)
template<typename Scalar , int DIM>
Scalar | sqrnorm (const VectorT< Scalar, DIM > &_v)
template<typename Scalar , int DIM, typename OtherScalar >
VectorT< Scalar, DIM > & | vectorize (VectorT< Scalar, DIM > &_v, OtherScalar const &_val)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > & | normalize (VectorT< Scalar, DIM > &_v)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > & | maximize (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > & | minimize (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > | max (const VectorT< Scalar, DIM > &_v1, const VectorT< Scalar, DIM > &_v2)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > | min (const VectorT< Scalar, DIM > &_v1, const VectorT< Scalar, DIM > &_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)
template<typename Scalar , int DIM>
Scalar | norm (const VectorT< Scalar, DIM > &_v)
template<typename Scalar , int DIM>
Scalar | sqrnorm (const VectorT< Scalar, DIM > &_v)
template<typename Scalar , int DIM, typename OtherScalar >
VectorT< Scalar, DIM > & | vectorize (VectorT< Scalar, DIM > &_v, OtherScalar const &_val)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > & | normalize (VectorT< Scalar, DIM > &_v)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > & | maximize (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > & | minimize (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > | max (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)
template<typename Scalar , int DIM>
VectorT< Scalar, DIM > | min (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)

## Detailed Description

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

Quaternion class for representing rotations.

Definition at line 75 of file QuaternionT.hh.

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

- OpenFlipper/libs_required/ACG/Math/QuaternionT.hh