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Public Member Functions | Data Fields
Quat Class Reference

#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- ()
Quatoperator+= (const Quat &q)
Quatoperator-= (const Quat &q)
Quatoperator*= (Real s)
Quatoperator*= (const Quat &q)
Quatoperator/= (Real s)
Quatoperator/= (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 ( )
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*= ( Real  s)
Quat& operator*= ( const Quat q)
Quat& operator+= ( const Quat q)
Quat operator- ( )
Quat& operator-= ( const Quat q)
Quat& operator/= ( Real  s)
Quat& operator/= ( const Quat q)
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.


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