tf::Quaternion Class Reference

The Quaternion implements quaternion to perform linear algebra rotations in combination with Matrix3x3, Vector3 and Transform. More...

#include <Quaternion.h>

List of all members.

Public Member Functions
tfScalar	angle (const Quaternion &q) const
	Return the ***half*** angle between this quaternion and the other.
tfScalar	angleShortestPath (const Quaternion &q) const
	Return the angle between this quaternion and the other along the shortest path.
tfScalar	dot (const Quaternion &q) const
	Return the dot product between this quaternion and another.
TFSIMD_FORCE_INLINE Quaternion	farthest (const Quaternion &qd) const
tfScalar	getAngle () const
	Return the angle [0, 2Pi] of rotation represented by this quaternion.
tfScalar	getAngleShortestPath () const
	Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path.
Vector3	getAxis () const
	Return the axis of the rotation represented by this quaternion.
TFSIMD_FORCE_INLINE const tfScalar &	getW () const
Quaternion	inverse () const
	Return the inverse of this quaternion.
tfScalar	length () const
	Return the length of the quaternion.
tfScalar	length2 () const
	Return the length squared of the quaternion.
TFSIMD_FORCE_INLINE Quaternion	nearest (const Quaternion &qd) const
Quaternion &	normalize ()
	Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.
Quaternion	normalized () const
	Return a normalized version of this quaternion.
TFSIMD_FORCE_INLINE Quaternion	operator* (const tfScalar &s) const
	Return a scaled version of this quaternion.
Quaternion &	operator*= (const tfScalar &s)
	Scale this quaternion.
Quaternion &	operator*= (const Quaternion &q)
	Multiply this quaternion by q on the right.
TFSIMD_FORCE_INLINE Quaternion	operator+ (const Quaternion &q2) const
	Return the sum of this quaternion and the other.
TFSIMD_FORCE_INLINE Quaternion &	operator+= (const Quaternion &q)
	Add two quaternions.
TFSIMD_FORCE_INLINE Quaternion	operator- (const Quaternion &q2) const
	Return the difference between this quaternion and the other.
TFSIMD_FORCE_INLINE Quaternion	operator- () const
	Return the negative of this quaternion This simply negates each element.
Quaternion &	operator-= (const Quaternion &q)
	Sutfract out a quaternion.
Quaternion	operator/ (const tfScalar &s) const
	Return an inversely scaled versionof this quaternion.
Quaternion &	operator/= (const tfScalar &s)
	Inversely scale this quaternion.
	Quaternion ()
	No initialization constructor.
	Quaternion (const tfScalar &x, const tfScalar &y, const tfScalar &z, const tfScalar &w)
	Constructor from scalars.
	Quaternion (const Vector3 &axis, const tfScalar &angle)
	Axis angle Constructor.
	Quaternion (const tfScalar &yaw, const tfScalar &pitch, const tfScalar &roll) __attribute__((deprecated))
	Constructor from Euler angles.
void	setEuler (const tfScalar &yaw, const tfScalar &pitch, const tfScalar &roll)
	Set the quaternion using Euler angles.
void	setEulerZYX (const tfScalar &yaw, const tfScalar &pitch, const tfScalar &roll) __attribute__((deprecated))
	Set the quaternion using euler angles.
void	setRotation (const Vector3 &axis, const tfScalar &angle)
	Set the rotation using axis angle notation.
void	setRPY (const tfScalar &roll, const tfScalar &pitch, const tfScalar &yaw)
	Set the quaternion using fixed axis RPY.
Quaternion	slerp (const Quaternion &q, const tfScalar &t) const
	Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion.
Static Public Member Functions
static const Quaternion &	getIdentity ()

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Detailed Description

The Quaternion implements quaternion to perform linear algebra rotations in combination with Matrix3x3, Vector3 and Transform.

Definition at line 28 of file Quaternion.h.

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Constructor & Destructor Documentation

tf::Quaternion::Quaternion

(

)

[inline]

No initialization constructor.

Definition at line 31 of file Quaternion.h.

tf::Quaternion::Quaternion	(	const tfScalar &	x,
		const tfScalar &	y,
		const tfScalar &	z,
		const tfScalar &	w
	)		[inline]

Constructor from scalars.

Definition at line 37 of file Quaternion.h.

tf::Quaternion::Quaternion	(	const Vector3 &	axis,
		const tfScalar &	angle
	)		[inline]

Axis angle Constructor.

Parameters:

axis	The axis which the rotation is around
angle	The magnitude of the rotation around the angle (Radians)

Definition at line 43 of file Quaternion.h.

tf::Quaternion::Quaternion	(	const tfScalar &	yaw,
		const tfScalar &	pitch,
		const tfScalar &	roll
	)		[inline]

Constructor from Euler angles.

Parameters:

yaw	Angle around Y unless TF_EULER_DEFAULT_ZYX defined then Z
pitch	Angle around X unless TF_EULER_DEFAULT_ZYX defined then Y
roll	Angle around Z unless TF_EULER_DEFAULT_ZYX defined then X

Definition at line 51 of file Quaternion.h.

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Member Function Documentation

tfScalar tf::Quaternion::angle

(

const Quaternion &

q

)

const [inline]

Return the ***half*** angle between this quaternion and the other.

Parameters:

q	The other quaternion

Definition at line 211 of file Quaternion.h.

tfScalar tf::Quaternion::angleShortestPath

(

const Quaternion &

q

)

const [inline]

Return the angle between this quaternion and the other along the shortest path.

Parameters:

q	The other quaternion

Definition at line 219 of file Quaternion.h.

tfScalar tf::Quaternion::dot

(

const Quaternion &

q

)

const [inline]

Return the dot product between this quaternion and another.

Parameters:

q	The other quaternion

Definition at line 155 of file Quaternion.h.

TFSIMD_FORCE_INLINE Quaternion tf::Quaternion::farthest

(

const Quaternion &

qd

)

const [inline]

Todo:

document this and it's use

Definition at line 288 of file Quaternion.h.

tfScalar tf::Quaternion::getAngle

(

)

const [inline]

Return the angle [0, 2Pi] of rotation represented by this quaternion.

Definition at line 229 of file Quaternion.h.

tfScalar tf::Quaternion::getAngleShortestPath

(

)

const [inline]

Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path.

Definition at line 236 of file Quaternion.h.

Vector3 tf::Quaternion::getAxis

(

)

const [inline]

Return the axis of the rotation represented by this quaternion.

Definition at line 247 of file Quaternion.h.

static const Quaternion& tf::Quaternion::getIdentity

(

)

[inline, static]

Definition at line 340 of file Quaternion.h.

TFSIMD_FORCE_INLINE const tfScalar& tf::Quaternion::getW

(

)

const [inline]

Definition at line 346 of file Quaternion.h.

Quaternion tf::Quaternion::inverse

(

)

const [inline]

Return the inverse of this quaternion.

Definition at line 257 of file Quaternion.h.

tfScalar tf::Quaternion::length

(

)

const [inline]

Return the length of the quaternion.

Definition at line 167 of file Quaternion.h.

tfScalar tf::Quaternion::length2

(

)

const [inline]

Return the length squared of the quaternion.

Definition at line 161 of file Quaternion.h.

TFSIMD_FORCE_INLINE Quaternion tf::Quaternion::nearest

(

const Quaternion &

qd

)

const [inline]

Todo:

document this and it's use

Definition at line 299 of file Quaternion.h.

Quaternion& tf::Quaternion::normalize

(

)

[inline]

Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.

Definition at line 174 of file Quaternion.h.

Quaternion tf::Quaternion::normalized

(

)

const [inline]

Return a normalized version of this quaternion.

Definition at line 205 of file Quaternion.h.

TFSIMD_FORCE_INLINE Quaternion tf::Quaternion::operator*

(

const tfScalar &

s

)

const [inline]

Return a scaled version of this quaternion.

Parameters:

s	The scale factor

Definition at line 182 of file Quaternion.h.

Quaternion& tf::Quaternion::operator*=

(

const tfScalar &

s

)

[inline]

Scale this quaternion.

Parameters:

s	The scalar to scale by

Definition at line 136 of file Quaternion.h.

Quaternion& tf::Quaternion::operator*=

(

const Quaternion &

q

)

[inline]

Multiply this quaternion by q on the right.

Parameters:

q	The other quaternion Equivilant to this = this * q

Definition at line 145 of file Quaternion.h.

TFSIMD_FORCE_INLINE Quaternion tf::Quaternion::operator+

(

const Quaternion &

q2

)

const [inline]

Return the sum of this quaternion and the other.

Parameters:

q2	The other quaternion

Definition at line 265 of file Quaternion.h.

TFSIMD_FORCE_INLINE Quaternion& tf::Quaternion::operator+=

(

const Quaternion &

q

)

[inline]

Add two quaternions.

Parameters:

q	The quaternion to add to this one

Definition at line 120 of file Quaternion.h.

TFSIMD_FORCE_INLINE Quaternion tf::Quaternion::operator-

(

const Quaternion &

q2

)

const [inline]

Return the difference between this quaternion and the other.

Parameters:

q2	The other quaternion

Definition at line 274 of file Quaternion.h.

TFSIMD_FORCE_INLINE Quaternion tf::Quaternion::operator-

(

)

const [inline]

Return the negative of this quaternion This simply negates each element.

Definition at line 282 of file Quaternion.h.

Quaternion& tf::Quaternion::operator-=

(

const Quaternion &

q

)

[inline]

Sutfract out a quaternion.

Parameters:

q	The quaternion to sutfract from this one

Definition at line 128 of file Quaternion.h.

Quaternion tf::Quaternion::operator/

(

const tfScalar &

s

)

const [inline]

Return an inversely scaled versionof this quaternion.

Parameters:

s	The inverse scale factor

Definition at line 190 of file Quaternion.h.

Quaternion& tf::Quaternion::operator/=

(

const tfScalar &

s

)

[inline]

Inversely scale this quaternion.

Parameters:

s	The scale factor

Definition at line 198 of file Quaternion.h.

void tf::Quaternion::setEuler	(	const tfScalar &	yaw,
		const tfScalar &	pitch,
		const tfScalar &	roll
	)		[inline]

Set the quaternion using Euler angles.

Parameters:

yaw	Angle around Y
pitch	Angle around X
roll	Angle around Z

Definition at line 74 of file Quaternion.h.

void tf::Quaternion::setEulerZYX	(	const tfScalar &	yaw,
		const tfScalar &	pitch,
		const tfScalar &	roll
	)		[inline]

Set the quaternion using euler angles.

Parameters:

yaw	Angle around Z
pitch	Angle around Y
roll	Angle around X

Definition at line 114 of file Quaternion.h.

void tf::Quaternion::setRotation	(	const Vector3 &	axis,
		const tfScalar &	angle
	)		[inline]

Set the rotation using axis angle notation.

Parameters:

axis	The axis around which to rotate
angle	The magnitude of the rotation in Radians

Definition at line 62 of file Quaternion.h.

void tf::Quaternion::setRPY	(	const tfScalar &	roll,
		const tfScalar &	pitch,
		const tfScalar &	yaw
	)		[inline]

Set the quaternion using fixed axis RPY.

Parameters:

roll	Angle around X
pitch	Angle around Y
yaw	Angle around Z

Definition at line 94 of file Quaternion.h.

Quaternion tf::Quaternion::slerp	(	const Quaternion &	q,
		const tfScalar &	t
	)		const [inline]

Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion.

Parameters:

q	The other quaternion to interpolate with
t	The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. Slerp interpolates assuming constant velocity.

Definition at line 314 of file Quaternion.h.

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

• Quaternion.h