WSM::Quaternion3d Class Reference

Description

The Quaternion3d class.

#include <Quaternion3d.h>

Public Member Functions
	Quaternion3d ()
	Quaternion3d (double aX, double aY, double aZ, double aW)
Quaternion3d &	fromRotation (const WSM::Vector3d &aAxis, double aAngle)
	Set the quaternion from an angle/axis pair.
void	getRotation (WSM::Vector3d &aAxis, double &aAngle) const
	Get the axis and angle representation.
Quaternion3d &	fromTwoVectors (const WSM::Vector3d &aA, const WSM::Vector3d &aB)
	Set the quaternion from based on a from and to vector.
Quaternion3d &	fromThreeVectors (const WSM::Vector3d &aX, const WSM::Vector3d &aY, const WSM::Vector3d &aZ)
	Set the elements of the quaternion from 3 axes vectors.
Quaternion3d &	fromEulerAngles (double aX, double aY, double aZ)
	Set the quaternion from euler angles.
void	getEulerAngles (double &aX, double &aY, double &aZ) const
	Get the Euler angles from the quaternion.
void	getTransf3d (WSM::Transf3d &aT) const
	Get the 4x4 matrix from the quaternion.
Quaternion3d &	identity ()
Quaternion3d &	normalize ()
Quaternion3d &	invert ()
Quaternion3d &	invertFrom (const Quaternion3d &aQ)
Quaternion3d	getInverted () const
Quaternion3d &	set (double aX, double aY, double aZ, double aW)
bool	operator== (const Quaternion3d &aQ) const
bool	operator!= (const Quaternion3d &aQ) const
Quaternion3d	operator* (const Quaternion3d &aQ) const
Quaternion3d &	operator*= (const Quaternion3d &aQ)
WSM::Vector3d	operator* (const WSM::Vector3d &aT) const
	Returns the WSM::Vector3d rotated by the quaternion.

Public Attributes
double	x = 0.0
double	y = 0.0
double	z = 0.0
double	w = 1.0

Static Public Attributes
static const double	kEpsilon
static const double	kCosThreshold

Constructor & Destructor Documentation

Quaternion3d() [1/2]

WSM::Quaternion3d::Quaternion3d

(

)

Quaternion3d() [2/2]

WSM::Quaternion3d::Quaternion3d	(	double	aX,
		double	aY,
		double	aZ,
		double	aW
	)

Member Function Documentation

fromEulerAngles()

Quaternion3d & WSM::Quaternion3d::fromEulerAngles	(	double	aX,
		double	aY,
		double	aZ
	)

Set the quaternion from euler angles.

fromRotation()

Quaternion3d & WSM::Quaternion3d::fromRotation	(	const WSM::Vector3d &	aAxis,
		double	aAngle
	)

Set the quaternion from an angle/axis pair.

fromThreeVectors()

Quaternion3d & WSM::Quaternion3d::fromThreeVectors	(	const WSM::Vector3d &	aX,
		const WSM::Vector3d &	aY,
		const WSM::Vector3d &	aZ
	)

Set the elements of the quaternion from 3 axes vectors.

fromTwoVectors()

Quaternion3d & WSM::Quaternion3d::fromTwoVectors	(	const WSM::Vector3d &	aA,
		const WSM::Vector3d &	aB
	)

Set the quaternion from based on a from and to vector.

getEulerAngles()

void WSM::Quaternion3d::getEulerAngles	(	double &	aX,
		double &	aY,
		double &	aZ
	)		const

Get the Euler angles from the quaternion.

getInverted()

Quaternion3d WSM::Quaternion3d::getInverted

(

)

const

getRotation()

void WSM::Quaternion3d::getRotation	(	WSM::Vector3d &	aAxis,
		double &	aAngle
	)		const

Get the axis and angle representation.

getTransf3d()

void WSM::Quaternion3d::getTransf3d

(

WSM::Transf3d &

aT

)

const

Get the 4x4 matrix from the quaternion.

identity()

Quaternion3d & WSM::Quaternion3d::identity

(

)

invert()

Quaternion3d & WSM::Quaternion3d::invert

(

)

invertFrom()

Quaternion3d & WSM::Quaternion3d::invertFrom

(

const Quaternion3d &

aQ

)

normalize()

Quaternion3d & WSM::Quaternion3d::normalize

(

)

operator!=()

bool WSM::Quaternion3d::operator!=

(

const Quaternion3d &

aQ

)

const

operator*() [1/2]

Quaternion3d WSM::Quaternion3d::operator*

(

const Quaternion3d &

aQ

)

const

operator*() [2/2]

WSM::Vector3d WSM::Quaternion3d::operator*

(

const WSM::Vector3d &

aT

)

const

Returns the WSM::Vector3d rotated by the quaternion.

operator*=()

Quaternion3d & WSM::Quaternion3d::operator*=

(

const Quaternion3d &

aQ

)

operator==()

bool WSM::Quaternion3d::operator==

(

const Quaternion3d &

aQ

)

const

set()

Quaternion3d & WSM::Quaternion3d::set	(	double	aX,
		double	aY,
		double	aZ,
		double	aW
	)

Member Data Documentation

kCosThreshold

const double WSM::Quaternion3d::kCosThreshold

static

kEpsilon

const double WSM::Quaternion3d::kEpsilon

static

w

double WSM::Quaternion3d::w = 1.0

x

double WSM::Quaternion3d::x = 0.0

y

double WSM::Quaternion3d::y = 0.0

z

double WSM::Quaternion3d::z = 0.0

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

• WSM/Quaternion3d.h