3D quaternion utility class. More...

#include <quat.h>

Public Member Functions
	Quat3 ()
	Default constructor.

	Quat3 (const double &w1, const double &x, const double &y, const double &z)

	~Quat3 ()
	Default destructor.

	Quat3 (const Quat3 &q)
	Copy constructor.

void	setQuat (const double &w1, const double &x, const double &y, const double &z)
	Set the real and imaginary parts.

const double &	w () const
	Access the real part.

const double &	i () const
	Access the first imaginary part.

const double &	j () const
	Access the second imaginary part.

const double &	k () const
	Access the third imaginary part.

double &	rw ()
	Access a reference to the real part.

double &	ri ()
	Access a reference to the first imaginary part.

double &	rj ()
	Access a reference to the second imaginary part.

double &	rk ()
	Access a reference to the third imaginary part.

void	reset ()
	Reset the quaternion.

void	ident ()
	Reset the quaternion to the identity.

BASE_EXPORT bool	isNull () const
	Returns a boolean indicating whether or not the quaternion is null.

BASE_EXPORT DMatrix< 3, 3 >	quatToMatrix () const
	Convert the quaternion to a rotation matrix.

BASE_EXPORT DVect3	quatToAAngle () const
	Convert to Axis Angle where the magnitude of the axis is the angle in radians.

BASE_EXPORT void	fromMatrix (const DMatrix< 3, 3 > &)
	Convert a matrix into a quaternion.

BASE_EXPORT void	fromAxisAngle (const DVect3 &, const double &)
	Take an axis-angle representation and convert it to a quaternion where the angle is in radians.

BASE_EXPORT void	fromEuler (const DVect3 &)

BASE_EXPORT void	incrementAxisAngle (const DVect3 &, const double &)
	Increment by this rotation.

BASE_EXPORT void	spinAboutX (const double &)
	Just spin about the X axis.

BASE_EXPORT void	spinAboutY (const double &)
	Just spin about the Y axis.

BASE_EXPORT void	spinAboutZ (const double &)
	Just spin about the Z axis.

BASE_EXPORT DVect3	rotate (const DVect3 &v) const
	Rotate a DVect3 by the quaternian to get a new DVect3.

BASE_EXPORT DVect3	real () const
	Return the "real" vector part of the quaternian.

BASE_EXPORT void	fromUnitAxes (const DVect3 &, const DVect3 &)
	Take 2 orthogonal axis for an axis system and convert to a quaternion.

BASE_EXPORT void	increment (const DAVect3 &)
	Increment the quaternion due to a rotation about the x, y, and z axes by the DAVect.

BASE_EXPORT DVect3	e1 () const
	Get component e1 of the rotation matrix.

BASE_EXPORT DVect3	e2 () const
	Get component e2 of the rotation matrix.

BASE_EXPORT DVect3	e3 () const
	Get component e3 of the rotation matrix.

BASE_EXPORT DVect3	quatToEuler () const

void	conj ()
	Convert the quaternion to the conjugate.

Quat3	getConj () const
	Return the conjugate of the quaternion.

BASE_EXPORT void	normalize ()
	Normalize the quaternion.

Quat3	operator * (const double &d) const
	Multiplication by a double.

Quat3	operator/ (const double &d) const
	Division by a double.

Quat3	operator * (const Quat3 &v) const
	Product of two quaternions.

Quat3	operator+ (const Quat3 &v) const
	Addition of two quaternions.

Quat3 friend	operator * (const DVect3 &v, const Quat3 &q)
	DVect3 times a quaternion, in that order.

Quat3	operator * (const DVect3 &v) const
	Quaternion times a DVect3, in that order.

const Quat3 &	operator *= (const double &d)
	In place multiplaction by a double.

const Quat3 &	operator/= (const double &d)
	In place division by a double.

const Quat3 &	operator *= (const Quat3 &v)
	In place multiplication of two quaternions.

const Quat3 &	operator+= (const Quat3 &v)
	In place addition of two quaternions.

bool	operator== (const Quat3 &v) const
	Euality operator.

Static Public Member Functions
static BASE_EXPORT Quat3	identity ()
	Returns the identity quaternion.

static BASE_EXPORT Quat3	fromVect (const DVect3 &v)
	Convert a DVect3 into a quaternion.

Friends
Quat3	operator * (const double &d, const Quat3 &p2)
	Product of a double and a quaternion.

Detailed Description

3D quaternion utility class.

Constructor & Destructor Documentation

◆ Quat3()

Quat3::Quat3	(	const double &	w1,
		const double &	x,
		const double &	y,
		const double &	z
	)

inline

Constructor taking 4 double arguments, the first is the real part and the remaining three are the imaginary parts.

Member Function Documentation

◆ fromEuler()

void Quat3::fromEuler ( const DVect3 & e )

Take the Euler representation and convert it to a quaternion (angles in DEGREES). This assumes an X,Y,Z rotation (really Bryant angles)

◆ quatToEuler()

DVect3 Quat3::quatToEuler ( ) const

Convert the quaternion into euler angles in degrees. This assumes and X,Y,Z order (really Bryant angles)

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

C:/Source/itasca-suite/common/base/src/quat.h
C:/Source/itasca-suite/common/base/src/quat.cpp

Public Member Functions