Quat2 Class Reference

2D quaternion-like utility class. In this case only the angle (in radians) is stored as opposed to the complex number. Multiplication of quaternions is supposed to result in a combined rotation which, in 2D, is the addition of the angles. This is for consitency with the Quat3 class. More...

#include <quat.h>

Public Member Functions
	Quat2 ()
	Default constructor.
	Quat2 (const double &a)
	Constructor initializing the angle.
	~Quat2 ()
	Destructor.
	Quat2 (const Quat2 &q)
	Copy constructor.
constexpr Quat2 &	operator= (const Quat2 &in)
	Equals operator.
void	setQuat (const double &a)
	Set the angle.
const double &	ang () const
	Access the angle.
double &	rang ()
	Access a reference to the angle.
void	reset ()
	Reset the angle to 0.
void	ident ()
	Reset to the identity.
BASE_EXPORT DMatrix< 2, 2 >	quatToMatrix () const
	Convert the quaternion to a rotation matrix.
BASE_EXPORT void	fromMatrix (const DMatrix< 2, 2 > &)
	Convert a matrix into a quaternion.
BASE_EXPORT void	fromAxisAngle (const DVect2 &, const double &)
BASE_EXPORT void	fromEuler (const DAVect2 &v)
BASE_EXPORT void	incrementAxisAngle (const DVect2 &, const double &)
	Increment by this rotation. In this case the axis is ignored.
BASE_EXPORT void	spinAboutZ (const double &)
	Just spin about the Z axis.
BASE_EXPORT DVect2	rotate (const DVect2 &v) const
	Rotate a DVect2 by the quaternian to get a new DVect2.
BASE_EXPORT void	fromUnitAxes (const DVect2 &, const DVect2 &)
BASE_EXPORT void	increment (const DAVect2 &)
	Increment the quaternion due to a rotation about Z by the DAVect.
void	conj ()
	Convert to the conjugate quaternion - rotation by the opposite sign.
Quat2	getConj () const
	Return the conjugate of the quaternion.
void	normalize ()
	Normalize the quaternion.
Quat2	operator* (const double &d) const
	Multiplication by a double.
Quat2	operator/ (const double &d) const
	Division by a double.
Quat2	operator* (const Quat2 &v) const
Quat2	operator+ (const Quat2 &v) const
	Addition of quaterions. This is also the composition of rotations in 2D.
const Quat2 &	operator*= (const double &d)
	In place multiplaction by a double.
const Quat2 &	operator/= (const double &d)
	In place division by a double.
const Quat2 &	operator*= (const Quat2 &v)
const Quat2 &	operator+= (const Quat2 &v)
bool	operator== (const Quat2 &v) const
	Euality operator.

Static Public Member Functions
static BASE_EXPORT Quat2	identity ()
	Return the identity quaternion.
static BASE_EXPORT Quat2	fromVect (const DVect2 &v)
	Convert a DVect2 into a quaternion. This assumes a rotation from the positive x axis.

Friends
Quat2	operator* (const double &d, const Quat2 &p2)
	Multiplication of a double times a quaternion.

Detailed Description

2D quaternion-like utility class. In this case only the angle (in radians) is stored as opposed to the complex number. Multiplication of quaternions is supposed to result in a combined rotation which, in 2D, is the addition of the angles. This is for consitency with the Quat3 class.

Member Function Documentation

fromAxisAngle()

void Quat2::fromAxisAngle	(	const DVect2 &	,
		const double &	d )

Take an axis-angle representation and convert it to a quaternion (angles in DEGREES). In this case the axis is ignored.

fromUnitAxes()

void Quat2::fromUnitAxes	(	const DVect2 &	v,
		const DVect2 &	)

Take 1 orthogonal axis for an axis system and convert to a quaternion. The second axis is ignored.

operator*()

Quat2 Quat2::operator* ( const Quat2 & v ) const

inline

Multiplication of two quaternions. This is the composition of rotations which corresponds to the addition of the angles.

operator*=()

const Quat2 & Quat2::operator*= ( const Quat2 & v )

inline

In place multiplication of two quaternions. This is the composition of rotations which corresponds to the addition of the angles.

operator+=()

const Quat2 & Quat2::operator+= ( const Quat2 & v )

inline

In place addition of two quaternions. This is the composition of rotations which corresponds to the addition of the angles.

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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