Public API Reference

csQuaternion Class Reference
[Geometry utilities]

Class for a quaternion. More...

#include <csgeom/quaternion.h>

List of all members.

Public Member Functions
void	Conjugate ()
	Set this quaternion to its own conjugate.
	csQuaternion (const csQuaternion &q)
	Copy-constructor.
	csQuaternion (const csVector3 &v, float w)
	Construct from a vector and given w value.
	csQuaternion (float x, float y, float z, float w)
	Initialize with given values. Does not normalize.
	csQuaternion ()
	Initialize with identity.
float	Dot (const csQuaternion &q) const
	Return euclidian inner-product (dot).
csQuaternion	Exp () const
	Get quaternion exp.
void	GetAxisAngle (csVector3 &axis, float &angle) const
	Get a quaternion as axis-angle representation.
csQuaternion	GetConjugate () const
	Get the conjugate quaternion.
csVector3	GetEulerAngles () const
	Get quaternion as three Euler angles X, Y, Z, expressed in radians.
csMatrix3	GetMatrix () const
	Get quaternion as a 3x3 rotation matrix.
csQuaternion	Log () const
	Get quaternion log.
csQuaternion	NLerp (const csQuaternion &q2, float t) const
	Interpolate this quaternion with another using normalized linear interpolation (nlerp) using given interpolation factor.
float	Norm () const
	Get the norm of this quaternion.
csQuaternion &	operator *= (const csQuaternion &q)
	Multiply this quaternion by another.
csQuaternion &	operator+= (const csQuaternion &q)
	Add quaternion to this one.
csQuaternion &	operator-= (const csQuaternion &q)
	Subtract quaternion from this one.
csVector3	Rotate (const csVector3 &src) const
	Rotate vector by quaternion.
void	SetAxisAngle (const csVector3 &axis, float angle)
	Set a quaternion using axis-angle representation.
void	SetEulerAngles (const csVector3 &angles)
	Set quaternion using Euler angles X, Y, Z, expressed in radians.
void	SetIdentity ()
	Set quaternion to identity rotation.
void	SetMatrix (const csMatrix3 &matrix)
	Set quaternion using 3x3 rotation matrix.
csQuaternion	SLerp (const csQuaternion &q2, float t) const
	Interpolate this quaternion with another using spherical linear interpolation (slerp) using given interpolation factor.
csQuaternion	Squad (const csQuaternion &t1, const csQuaternion &t2, const csQuaternion &q, float t) const
	Interpolate this quaternion with another (q) using cubic linear interpolation (squad) using given interpolation factor (t) and tangents (t1 and t2).
float	SquaredNorm () const
	Get the squared norm of this quaternion (equals dot with itself).
csQuaternion	Unit () const
	Return a unit-lenght version of this quaternion (also called sgn) Attempting to normalize a zero-length quaternion will result in a divide by zero error.
Public Attributes
csVector3	v
float	w
Friends
csQuaternion	operator * (float f, const csQuaternion q)
	Multiply by scalar.
csQuaternion	operator * (const csQuaternion q, float f)
	Multiply by scalar.
csQuaternion	operator * (const csQuaternion &q1, const csQuaternion &q2)
	Multiply two quaternions, Grassmann product.
csQuaternion	operator+ (const csQuaternion &q1, const csQuaternion &q2)
	Add two quaternions.
csQuaternion	operator- (const csQuaternion &q)
	Get the negative quaternion (unary minus).
csQuaternion	operator- (const csQuaternion &q1, const csQuaternion &q2)
	Subtract two quaternions.
csQuaternion	operator/ (float f, const csQuaternion q)
	Divide by scalar.
csQuaternion	operator/ (const csQuaternion q, float f)
	Divide by scalar.

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Detailed Description

Class for a quaternion.

A SE3 rotation represented as a normalized quaternion

Definition at line 41 of file quaternion.h.

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Constructor & Destructor Documentation

csQuaternion::csQuaternion

(

)

[inline]

Initialize with identity.

Definition at line 47 of file quaternion.h.

csQuaternion::csQuaternion	(	float	x,
		float	y,
		float	z,
		float	w
	)			[inline]

Initialize with given values. Does not normalize.

Definition at line 52 of file quaternion.h.

csQuaternion::csQuaternion	(	const csVector3 &	v,
		float	w
	)			[inline]

Construct from a vector and given w value.

Definition at line 57 of file quaternion.h.

csQuaternion::csQuaternion

(

const csQuaternion &

q

)

[inline]

Copy-constructor.

Definition at line 62 of file quaternion.h.

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Member Function Documentation

void csQuaternion::Conjugate

(

)

[inline]

Set this quaternion to its own conjugate.

Definition at line 156 of file quaternion.h.

float csQuaternion::Dot

(

const csQuaternion &

q

)

const [inline]

Return euclidian inner-product (dot).

Definition at line 162 of file quaternion.h.

References v, and w.

csQuaternion csQuaternion::Exp

(

)

const

Get quaternion exp.

void csQuaternion::GetAxisAngle	(	csVector3 &	axis,
		float &	angle
	)			const [inline]

Get a quaternion as axis-angle representation.

Parameters:

	axis	Rotation axis.
	angle	Angle to rotate about axis (in radians)

Definition at line 220 of file quaternion.h.

References csVector3::Set(), and csVector3::Unit().

csQuaternion csQuaternion::GetConjugate

(

)

const [inline]

Get the conjugate quaternion.

Definition at line 150 of file quaternion.h.

csVector3 csQuaternion::GetEulerAngles

(

)

const

Get quaternion as three Euler angles X, Y, Z, expressed in radians.

csMatrix3 csQuaternion::GetMatrix

(

)

const

Get quaternion as a 3x3 rotation matrix.

csQuaternion csQuaternion::Log

(

)

const

Get quaternion log.

csQuaternion csQuaternion::NLerp	(	const csQuaternion &	q2,
		float	t
	)			const

Interpolate this quaternion with another using normalized linear interpolation (nlerp) using given interpolation factor.

float csQuaternion::Norm

(

)

const [inline]

Get the norm of this quaternion.

Definition at line 174 of file quaternion.h.

References csQsqrt().

csQuaternion& csQuaternion::operator *=

(

const csQuaternion &

q

)

[inline]

Multiply this quaternion by another.

Definition at line 115 of file quaternion.h.

References v, and w.

csQuaternion& csQuaternion::operator+=

(

const csQuaternion &

q

)

[inline]

Add quaternion to this one.

Definition at line 80 of file quaternion.h.

References v, and w.

csQuaternion& csQuaternion::operator-=

(

const csQuaternion &

q

)

[inline]

Subtract quaternion from this one.

Definition at line 94 of file quaternion.h.

References v, and w.

csVector3 csQuaternion::Rotate

(

const csVector3 &

src

)

const [inline]

Rotate vector by quaternion.

Definition at line 192 of file quaternion.h.

References v.

void csQuaternion::SetAxisAngle	(	const csVector3 &	axis,
		float	angle
	)			[inline]

Set a quaternion using axis-angle representation.

Parameters:

	axis	Rotation axis. Should be normalized before calling this function.
	angle	Angle to rotate about axis (in radians)

Definition at line 207 of file quaternion.h.

void csQuaternion::SetEulerAngles

(

const csVector3 &

angles

)

Set quaternion using Euler angles X, Y, Z, expressed in radians.

void csQuaternion::SetIdentity

(

)

[inline]

Set quaternion to identity rotation.

Definition at line 67 of file quaternion.h.

void csQuaternion::SetMatrix

(

const csMatrix3 &

matrix

)

Set quaternion using 3x3 rotation matrix.

csQuaternion csQuaternion::SLerp	(	const csQuaternion &	q2,
		float	t
	)			const

Interpolate this quaternion with another using spherical linear interpolation (slerp) using given interpolation factor.

csQuaternion csQuaternion::Squad	(	const csQuaternion &	t1,
		const csQuaternion &	t2,
		const csQuaternion &	q,
		float	t
	)			const

Interpolate this quaternion with another (q) using cubic linear interpolation (squad) using given interpolation factor (t) and tangents (t1 and t2).

float csQuaternion::SquaredNorm

(

)

const [inline]

Get the squared norm of this quaternion (equals dot with itself).

Definition at line 168 of file quaternion.h.

csQuaternion csQuaternion::Unit

(

)

const [inline]

Return a unit-lenght version of this quaternion (also called sgn) Attempting to normalize a zero-length quaternion will result in a divide by zero error.

This is as it should be... fix the calling code.

Definition at line 184 of file quaternion.h.

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Friends And Related Function Documentation

csQuaternion operator *	(	float	f,
		const csQuaternion	q
	)			[friend]

Multiply by scalar.

Definition at line 130 of file quaternion.h.

csQuaternion operator *	(	const csQuaternion	q,
		float	f
	)			[friend]

Multiply by scalar.

Definition at line 124 of file quaternion.h.

csQuaternion operator *	(	const csQuaternion &	q1,
		const csQuaternion &	q2
	)			[friend]

Multiply two quaternions, Grassmann product.

Definition at line 107 of file quaternion.h.

csQuaternion operator+	(	const csQuaternion &	q1,
		const csQuaternion &	q2
	)			[friend]

Add two quaternions.

Definition at line 73 of file quaternion.h.

csQuaternion operator-

(

const csQuaternion &

q

)

[friend]

Get the negative quaternion (unary minus).

Definition at line 101 of file quaternion.h.

csQuaternion operator-	(	const csQuaternion &	q1,
		const csQuaternion &	q2
	)			[friend]

Subtract two quaternions.

Definition at line 87 of file quaternion.h.

csQuaternion operator/	(	float	f,
		const csQuaternion	q
	)			[friend]

Divide by scalar.

Definition at line 143 of file quaternion.h.

csQuaternion operator/	(	const csQuaternion	q,
		float	f
	)			[friend]

Divide by scalar.

Definition at line 136 of file quaternion.h.

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

• csgeom/quaternion.h

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