This class defines a quaternion. A quaternion is a number system that extends the complex number. Quaternions are used in particular for calculations involving three-dimmensional space. Quaternions are been represented in this class as a scalar and a vector: [w, (x,y,z)]. More...

#include <Quaternion.h>

Public Member Functions
void	fromEuler (double roll, double pitch, double yaw, TransformationTypes::EulerType type)
	This method sets the quaternion data with euler data. Sets the quaternion components [w, (x,y,z)] of the object with the specific euler data (roll, pitch, yaw). The euler system (euler321, euler123, ...) must be specified to know what is the transformation to applied.
double	getW () const
double	getX () const
double	getY () const
double	getZ () const
	Quaternion ()
	Default constructor. Initialize the quaternion as [1, (0,0,0)].
	Quaternion (double w, double x, double y, double z)
	This constructor initialize the quaternion as [w, (x,y,z)].
double *	toArray ()
	This method returns a new array with the quaternion data. The size of the array will be four. The first element will be the scalar. the second element will be the x component of the vector. the third element will be the y component of the vector. the fourth element will be the z component of the vector.
Private Attributes
double	w
double	x
double	y
double	z
Friends
std::ostream &	operator<< (std::ostream &o, Quaternion q)

Detailed Description

This class defines a quaternion. A quaternion is a number system that extends the complex number. Quaternions are used in particular for calculations involving three-dimmensional space. Quaternions are been represented in this class as a scalar and a vector: [w, (x,y,z)].

Definition at line 25 of file Quaternion.h.

Constructor & Destructor Documentation

rotateOp::Quaternion::Quaternion ( ) [inline]

Default constructor. Initialize the quaternion as [1, (0,0,0)].

Definition at line 38 of file Quaternion.h.

rotateOp::Quaternion::Quaternion	(	double	w,
		double	x,
		double	y,
		double	z
	)		`[inline]`

This constructor initialize the quaternion as [w, (x,y,z)].

Parameters:

w	The scalar.
x	The x component of the vector.
y	The y component of the vector.
z	The z component of the vector.

Definition at line 54 of file Quaternion.h.

Member Function Documentation

void rotateOp::Quaternion::fromEuler	(	double	roll,
		double	pitch,
		double	yaw,
		TransformationTypes::EulerType	type
	)		`[inline]`

This method sets the quaternion data with euler data. Sets the quaternion components [w, (x,y,z)] of the object with the specific euler data (roll, pitch, yaw). The euler system (euler321, euler123, ...) must be specified to know what is the transformation to applied.

Parameters:

roll	The euler roll angle in radians.
pitch	The euler pitch angle in radians.
yaw	The euler yaw angle in radians.
type	The euler system. The options can be EULER123, EULER321 or EULER 312

Definition at line 72 of file Quaternion.h.

double rotateOp::Quaternion::getW ( ) const [inline]

Definition at line 138 of file Quaternion.h.

double rotateOp::Quaternion::getX ( ) const [inline]

Definition at line 142 of file Quaternion.h.

double rotateOp::Quaternion::getY ( ) const [inline]

Definition at line 146 of file Quaternion.h.

double rotateOp::Quaternion::getZ ( ) const [inline]

Definition at line 150 of file Quaternion.h.

double* rotateOp::Quaternion::toArray ( ) [inline]

This method returns a new array with the quaternion data. The size of the array will be four. The first element will be the scalar. the second element will be the x component of the vector. the third element will be the y component of the vector. the fourth element will be the z component of the vector.

ATENTION: The array that this method returns must be deleted for the client.

Definition at line 123 of file Quaternion.h.