Quat Class Reference

#include <quat.hh>

Inherits additive< Quat >, multiplicative< Quat, Real >, and multiplicative< Quat, Quat >.

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

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.

Constructor & Destructor Documentation

Quat() [1/4]

Quat

(

)

Quat() [2/4]

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

Quat() [3/4]

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

Quat() [4/4]

Quat

(

const Mat3 &

rotmat

)

Member Function Documentation

GetAngle()

Real GetAngle

(

)

const

GetAxis()

Vec3 GetAxis

(

)

const

operator!=()

bool operator!= ( const Quat &  q ) const

inline

Definition at line 96 of file quat.hh.

operator*=() [1/2]

Quat& operator*=

(

const Quat &

q

)

operator*=() [2/2]

Quat& operator*=

(

Real

s

)

operator+=()

Quat& operator+=

(

const Quat &

q

)

operator-()

Quat operator-

(

)

operator-=()

Quat& operator-=

(

const Quat &

q

)

operator/=() [1/2]

Quat& operator/=

(

const Quat &

q

)

operator/=() [2/2]

Quat& operator/=

(

Real

s

)

operator==()

bool operator==

(

const Quat &

q

)

const

Rotate()

Vec3 Rotate

(

const Vec3 &

vec

)

const

ToRotationMatrix()

Mat3 ToRotationMatrix

(

)

const

Field Documentation

w

Real w

Definition at line 103 of file quat.hh.

x

Real x

Definition at line 103 of file quat.hh.

y

Real y

Definition at line 103 of file quat.hh.

z

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:

• build-2.9.0-doc/stage/include/ost/geom/quat.hh