Quat Class Reference

unit quaternion More...

#include <quat.hh>

Public Member Functions
	Quat ()
	Quat (Real w, Real x, Real y, Real z)
	Quat (Real angle, const geom::Vec3 &axis)
	Quat (const Mat3 &rotmat)
Mat3	ToRotationMatrix () const
Vec3	GetAxis () const
Real	GetAngle () const
Quat	operator- ()
Quat &	operator+= (const Quat &q)
Quat &	operator-= (const Quat &q)
Quat &	operator*= (Real s)
Quat &	operator*= (const Quat &q)
Quat &	operator/= (Real s)
Quat &	operator/= (const Quat &q)
bool	operator== (const Quat &q) const
bool	operator!= (const Quat &q) const
Vec3	Rotate (const Vec3 &vec) const
Data Fields
Real	w
Real	x
Real	y
Real	z

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Detailed Description

unit quaternion

The four components of a unit quaternion can be seen as [cos(theta),sin(theta)*x,sin(theta)*y,sin(theta)*z], where (x,y,z) constitute the unit vector of the rotation axis, and theta the half-rotation angle around that axis.

Definition at line 54 of file quat.hh.

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Constructor & Destructor Documentation

Quat

(

)

Quat	(	Real	w,
		Real	x,
		Real	y,
		Real	z
	)

Quat	(	Real	angle,
		const geom::Vec3 &	axis
	)

Quat

(

const Mat3 &

rotmat

)

---

Member Function Documentation

Real GetAngle

(

)

const

Vec3 GetAxis

(

)

const

bool operator!=

(

const Quat &

q

)

const [inline]

Definition at line 96 of file quat.hh.

Quat& operator*=

(

const Quat &

q

)

Quat& operator*=

(

Real

s

)

Quat& operator+=

(

const Quat &

q

)

Quat operator-

(

)

Quat& operator-=

(

const Quat &

q

)

Quat& operator/=

(

const Quat &

q

)

Quat& operator/=

(

Real

s

)

bool operator==

(

const Quat &

q

)

const

Vec3 Rotate

(

const Vec3 &

vec

)

const

Mat3 ToRotationMatrix

(

)

const

---

Field Documentation

Real w

Definition at line 103 of file quat.hh.

Real x

Definition at line 103 of file quat.hh.

Real y

Definition at line 103 of file quat.hh.

Real z

Definition at line 103 of file quat.hh.

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

• stage/include/ost/geom/quat.hh