karto::Quaternion Class Reference

#include <Karto.h>

Public Member Functions
void	FromEulerAngles (kt_double yaw, kt_double pitch, kt_double roll)
kt_double	GetW () const
kt_double	GetX () const
kt_double	GetY () const
kt_double	GetZ () const
kt_bool	operator!= (const Quaternion &rOther) const
Quaternion &	operator= (const Quaternion &rQuaternion)
kt_bool	operator== (const Quaternion &rOther) const
	Quaternion ()
	Quaternion (const Quaternion &rQuaternion)
	Quaternion (kt_double x, kt_double y, kt_double z, kt_double w)
void	SetW (kt_double w)
void	SetX (kt_double x)
void	SetY (kt_double y)
void	SetZ (kt_double z)
void	ToEulerAngles (kt_double &rYaw, kt_double &rPitch, kt_double &rRoll) const

Private Attributes
kt_double	m_Values [4]

Friends
std::ostream &	operator<< (std::ostream &rStream, const Quaternion &rQuaternion)

Detailed Description

Defines an orientation as a quaternion rotation using the positive Z axis as the zero reference.
Q = w + ix + jy + kz
w = c_1 * c_2 * c_3 - s_1 * s_2 * s_3
x = s_1 * s_2 * c_3 + c_1 * c_2 * s_3
y = s_1 * c_2 * c_3 + c_1 * s_2 * s_3
z = c_1 * s_2 * c_3 - s_1 * c_2 * s_3
where
c_1 = cos(theta/2)
c_2 = cos(phi/2)
c_3 = cos(psi/2)
s_1 = sin(theta/2)
s_2 = sin(phi/2)
s_3 = sin(psi/2)
and
theta is the angle of rotation about the Y axis measured from the Z axis.
phi is the angle of rotation about the Z axis measured from the X axis.
psi is the angle of rotation about the X axis measured from the Y axis.
(All angles are right-handed.)

Definition at line 1579 of file Karto.h.

Constructor & Destructor Documentation

Quaternion() [1/3]

karto::Quaternion::Quaternion ( )

inline

Create a quaternion with default (x=0, y=0, z=0, w=1) values

Definition at line 1585 of file Karto.h.

Quaternion() [2/3]

karto::Quaternion::Quaternion ( kt_double  x, kt_double  y, kt_double  z, kt_double  w  )

inline

Create a quaternion using x, y, z, w values.

Parameters

x
y
z
w

Definition at line 1600 of file Karto.h.

Quaternion() [3/3]

karto::Quaternion::Quaternion ( const Quaternion &  rQuaternion )

inline

Copy constructor

Definition at line 1611 of file Karto.h.

Member Function Documentation

FromEulerAngles()

void karto::Quaternion::FromEulerAngles ( kt_double  yaw, kt_double  pitch, kt_double  roll  )

inline

Set x,y,z,w values of the quaternion based on Euler angles. Source: http://www.euclideanspace.com/maths/geometry/rotations/conversions/eulerToQuaternion/index.htm

Parameters

yaw
pitch
roll

Definition at line 1736 of file Karto.h.

GetW()

kt_double karto::Quaternion::GetW ( ) const

inline

Returns the W-value

Returns

Return the W-value of the quaternion

Definition at line 1678 of file Karto.h.

GetX()

kt_double karto::Quaternion::GetX ( ) const

inline

Returns the X-value

Returns

Return the X-value of the quaternion

Definition at line 1624 of file Karto.h.

GetY()

kt_double karto::Quaternion::GetY ( ) const

inline

Returns the Y-value

Returns

Return the Y-value of the quaternion

Definition at line 1642 of file Karto.h.

GetZ()

kt_double karto::Quaternion::GetZ ( ) const

inline

Returns the Z-value

Returns

Return the Z-value of the quaternion

Definition at line 1660 of file Karto.h.

operator!=()

kt_bool karto::Quaternion::operator!= ( const Quaternion &  rOther ) const

inline

Inequality operator returns true if any of the corresponding x, y, z, w values of each quaternion not the same.

Parameters

rOther

Definition at line 1788 of file Karto.h.

operator=()

Quaternion& karto::Quaternion::operator= ( const Quaternion &  rQuaternion )

inline

Assignment operator

Parameters

rQuaternion

Definition at line 1762 of file Karto.h.

operator==()

kt_bool karto::Quaternion::operator== ( const Quaternion &  rOther ) const

inline

Equality operator returns true if the corresponding x, y, z, w values of each quaternion are the same values.

Parameters

rOther

Definition at line 1776 of file Karto.h.

SetW()

void karto::Quaternion::SetW ( kt_double  w )

inline

Sets the W-value

Parameters

w	W-value of the quaternion

Definition at line 1687 of file Karto.h.

SetX()

void karto::Quaternion::SetX ( kt_double  x )

inline

Sets the X-value

Parameters

x	X-value of the quaternion

Definition at line 1633 of file Karto.h.

SetY()

void karto::Quaternion::SetY ( kt_double  y )

inline

Sets the Y-value

Parameters

y	Y-value of the quaternion

Definition at line 1651 of file Karto.h.

SetZ()

void karto::Quaternion::SetZ ( kt_double  z )

inline

Sets the Z-value

Parameters

z	Z-value of the quaternion

Definition at line 1669 of file Karto.h.

ToEulerAngles()

void karto::Quaternion::ToEulerAngles ( kt_double &  rYaw, kt_double &  rPitch, kt_double &  rRoll  ) const

inline

Converts this quaternion into Euler angles Source: http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/index.htm

Parameters

rYaw
rPitch
rRoll

Definition at line 1699 of file Karto.h.

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  rStream, const Quaternion &  rQuaternion  )

friend

Write this quaternion onto output stream

Parameters

rStream	output stream
rQuaternion

Definition at line 1801 of file Karto.h.

Member Data Documentation

m_Values

kt_double karto::Quaternion::m_Values[4]

private

Definition at line 1811 of file Karto.h.

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

• Karto.h